sim: send peripheralState message (#22541)

* controlsd: ignore peripheralState for Simulation * controlsd: use fake peripheralState for Simulation * controlsd: use fake peripheralState for Simulation * controlsd: use fake peripheralState for Simulation * Apply suggestions from code review * sim: send peripheralState message * sim: send peripheralState message * sim: send peripheralState message * sim: send peripheralState message Co-authored-by: wolffja <wolffja@ubuntu20.04LTS> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> old-commit-hash: 26c5e7b826cc04e301e3c8c50884582f05e27ceb
2026-07-03 04:22:09 +08:00 · 2021-10-13 20:16:56 -04:00
parent d4cbef299b
commit aaae6ac738
1 changed files with 16 additions and 0 deletions
@@ -97,6 +97,21 @@ def panda_state_function(exit_event: threading.Event):
    pm.send('pandaStates', dat)
    time.sleep(0.5)

+def peripheral_state_function(exit_event: threading.Event):
+  pm = messaging.PubMaster(['peripheralState'])
+  while not exit_event.is_set():
+    dat = messaging.new_message('peripheralState')
+    dat.valid = True
+    # fake peripheral state data
+    dat.peripheralState = {
+      'pandaType': log.PandaState.PandaType.blackPanda,
+      'voltage': 12000,
+      'current': 5678,
+      'fanSpeedRpm': 1000
+    }
+    pm.send('peripheralState', dat)
+    time.sleep(0.5)
+
 def gps_callback(gps, vehicle_state):
  dat = messaging.new_message('gpsLocationExternal')

@@ -215,6 +230,7 @@ def bridge(q):
  threads = []
  exit_event = threading.Event()
  threads.append(threading.Thread(target=panda_state_function, args=(exit_event,)))
+  threads.append(threading.Thread(target=peripheral_state_function, args=(exit_event,)))
  threads.append(threading.Thread(target=fake_driver_monitoring, args=(exit_event,)))
  threads.append(threading.Thread(target=can_function_runner, args=(vehicle_state, exit_event,)))
  for t in threads: