openpilot v0.8.8 release

selfdrive/debug/cpu_usage_stat.py

@@ -44,7 +44,7 @@ def get_arg_parser():
   parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
 
   parser.add_argument("proc_names", nargs="?", default='',
-                      help="Process names to be monitored, comma seperated")
+                      help="Process names to be monitored, comma separated")
   parser.add_argument("--list_all", action='store_true',
                       help="Show all running processes' cmdline")
   parser.add_argument("--detailed_times", action='store_true',

selfdrive/debug/cycle_alerts.py

@@ -24,16 +24,13 @@ def cycle_alerts(duration=2000, is_metric=False):
   sm = messaging.SubMaster(['deviceState', 'pandaState', 'roadCameraState', 'modelV2', 'liveCalibration',
                             'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman'])
 
-  controls_state = messaging.pub_sock('controlsState')
-  deviceState = messaging.pub_sock('deviceState')
-
-  idx, last_alert_millis = 0, 0
+  pm = messaging.PubMaster(['controlsState', 'pandaState', 'deviceState'])
 
   events = Events()
   AM = AlertManager()
 
   frame = 0
-
+  idx, last_alert_millis = 0, 0
   while 1:
     if frame % duration == 0:
       idx = (idx + 1) % len(alerts)
@@ -50,7 +47,6 @@ def cycle_alerts(duration=2000, is_metric=False):
 
     dat = messaging.new_message()
     dat.init('controlsState')
-
     dat.controlsState.alertText1 = AM.alert_text_1
     dat.controlsState.alertText2 = AM.alert_text_2
     dat.controlsState.alertSize = AM.alert_size
@@ -58,14 +54,18 @@ def cycle_alerts(duration=2000, is_metric=False):
     dat.controlsState.alertBlinkingRate = AM.alert_rate
     dat.controlsState.alertType = AM.alert_type
     dat.controlsState.alertSound = AM.audible_alert
-    controls_state.send(dat.to_bytes())
+    pm.send('controlsState', dat)
 
     dat = messaging.new_message()
     dat.init('deviceState')
     dat.deviceState.started = True
-    deviceState.send(dat.to_bytes())
+    pm.send('deviceState', dat)
+
+    dat = messaging.new_message()
+    dat.init('pandaState')
+    dat.pandaState.ignitionLine = True
+    pm.send('pandaState', dat)
 
-    frame += 1
     time.sleep(0.01)
 
 if __name__ == '__main__':

selfdrive/debug/uiview.py

@@ -3,9 +3,8 @@ import time
 import cereal.messaging as messaging
 from selfdrive.manager.process_config import managed_processes
 
-
 if __name__ == "__main__":
-  services = ['controlsState', 'deviceState', 'radarState']  # the services needed to be spoofed to start ui offroad
+  services = ['controlsState', 'deviceState', 'pandaState']  # the services needed to be spoofed to start ui offroad
   procs = ['camerad', 'ui', 'modeld', 'calibrationd']
 
   for p in procs:
@@ -13,15 +12,15 @@ if __name__ == "__main__":
 
   pm = messaging.PubMaster(services)
 
-  dat_controlsState, dat_deviceState, dat_radar = [messaging.new_message(s) for s in services]
-  dat_deviceState.deviceState.started = True
+  msgs = {s: messaging.new_message(s) for s in services}
+  msgs['deviceState'].deviceState.started = True
+  msgs['pandaState'].pandaState.ignitionLine = True
 
   try:
     while True:
-      pm.send('controlsState', dat_controlsState)
-      pm.send('deviceState', dat_deviceState)
-      pm.send('radarState', dat_radar)
-      time.sleep(1 / 100)  # continually send, rate doesn't matter for deviceState
+      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()