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- #!/usr/bin/env python3
- import time
- from cereal import car, log, messaging
- from common.params import Params
- from selfdrive.manager.process_config import managed_processes
- if __name__ == "__main__":
- CP = car.CarParams(notCar=True)
- Params().put("CarParams", CP.to_bytes())
- procs = ['camerad', 'ui', 'modeld', 'calibrationd']
- for p in procs:
- managed_processes[p].start()
- pm = messaging.PubMaster(['controlsState', 'deviceState', 'pandaStates', 'carParams'])
- msgs = {s: messaging.new_message(s) for s in ['controlsState', 'deviceState', 'carParams']}
- msgs['deviceState'].deviceState.started = True
- msgs['carParams'].carParams.openpilotLongitudinalControl = True
- msgs['pandaStates'] = messaging.new_message('pandaStates', 1)
- msgs['pandaStates'].pandaStates[0].ignitionLine = True
- msgs['pandaStates'].pandaStates[0].pandaType = log.PandaState.PandaType.uno
- try:
- while True:
- time.sleep(1 / 100) # continually send, rate doesn't matter
- for s in msgs:
- pm.send(s, msgs[s])
- except KeyboardInterrupt:
- for p in procs:
- managed_processes[p].stop()
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