43 lines
1.4 KiB
Python
Executable File
43 lines
1.4 KiB
Python
Executable File
#!/usr/bin/env python3
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import time
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from cereal import car, log, messaging
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from openpilot.common.params import Params
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from openpilot.system.manager.process_config import managed_processes
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from openpilot.system.hardware import HARDWARE
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if __name__ == "__main__":
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CP = car.CarParams(notCar=True, wheelbase=1, steerRatio=10)
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Params().put("CarParams", CP.to_bytes())
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procs = ['camerad', 'ui', 'modeld', 'calibrationd', 'plannerd', 'dmonitoringmodeld', 'dmonitoringd']
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for p in procs:
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managed_processes[p].start()
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pm = messaging.PubMaster(['controlsState', 'deviceState', 'pandaStates', 'carParams', 'lateralPlan', 'carState'])
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msgs = {s: messaging.new_message(s) for s in ['controlsState', 'deviceState', 'carParams', 'carState']}
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msgs['deviceState'].deviceState.started = True
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msgs['deviceState'].deviceState.deviceType = HARDWARE.get_device_type()
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msgs['carParams'].carParams.openpilotLongitudinalControl = True
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msgs['pandaStates'] = messaging.new_message('pandaStates', 1)
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msgs['pandaStates'].pandaStates[0].ignitionLine = True
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msgs['pandaStates'].pandaStates[0].pandaType = log.PandaState.PandaType.uno
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v_ego = 0
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try:
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while True:
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time.sleep(1 / 100) # continually send, rate doesn't matter
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msgs['carState'].carState.vEgoCluster = v_ego
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v_ego += 0.02
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if v_ego > 40:
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v_ego = 0
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for s in msgs:
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pm.send(s, msgs[s])
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except KeyboardInterrupt:
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for p in procs:
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managed_processes[p].stop()
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