Typo fix

common/services.py

@@ -36,6 +36,7 @@ def __init__(self, port, should_log):
   "carState": Service(8021, True),
   # 8022 is reserved for sshd
   "carControl": Service(8023, True),
+  "waveModel":Service(8024,True)
 }
 
 # manager -- base process to manage starting and stopping of all others

selfdrive/controls/controlsd.py

@@ -46,6 +46,8 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
   model = messaging.sub_sock(context, service_list['model'].port)
   health = messaging.sub_sock(context, service_list['health'].port)
 
+  waveModel = messaging.sub_sock(context, service_list['waveModel'].port)
+
   # connects to can and sendcan
   CI = CarInterface()
   VP = CI.getVehicleParams()
@@ -144,6 +146,12 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
 
     prof.checkpoint("Buttons")
 
+    wave_model_data = messaging.recv_sock(waveModel)
+    if wave_model_data is not None:
+      if ( wave_model_data.path.prob == 0.743 ):
+        AM.add("waveModelSending",enabled)
+
+
     # *** health checking logic ***
     hh = messaging.recv_sock(health)
     if hh is not None:

selfdrive/controls/lib/alertmanager.py

@@ -58,6 +58,7 @@ class AlertManager(object):
     "wrongCarMode":       alert("Comma Unavailable","Main Switch Off",             ET.NO_ENTRY,     None, "chimeDouble", .4, 0., 3.),
     "outOfSpace":         alert("Comma Unavailable","Out of Space",                ET.NO_ENTRY,     None, "chimeDouble", .4, 0., 3.),
     "ethicalDilemma":     alert("Take Control Immediately","Ethical Dilemma Detected", ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "waveModelSending":   alert("Wave Model Working", "Alls Good",                 ET.WARNING,       "steerRequired", "chimeRepeated",1., 2.,3.),
     "startup":            alert("Always Keep Hands on Wheel","Be Ready to Take Over Any Time", ET.NO_ENTRY, None, None, 0., 0., 15.),
   }
   def __init__(self):
@@ -82,7 +83,7 @@ def add(self, alert_type, enabled = True):
     if not enabled and this_alert.alert_type > ET.NO_ENTRY:
       this_alert = alert("Comma Unavailable" if this_alert.alert_text_1 != "" else "", this_alert.alert_text_2, ET.NO_ENTRY, None, "chimeDouble", .4, 0., 3.)
 
-    # ignore no entries if we are enabled 
+    # ignore no entries if we are enabled
     if enabled and this_alert.alert_type < ET.WARNING:
       return
 
@@ -126,4 +127,3 @@ def process_alerts(self, cur_time):
     self.activealerts = []
 
     return alert_text_1, alert_text_2, visual_alert, audible_alert
-

selfdrive/manager.py

@@ -35,7 +35,8 @@
   "boardd": ("boardd", ["./boardd"]),   # switch to c++ boardd
   "ui": ("ui", ["./ui"]),
   "visiond": ("visiond", ["./visiond"]),
-  "sensord": ("sensord", ["./sensord"]), }
+  "sensord": ("sensord", ["./sensord"]),
+  "wavevisiond":"selfdrive.wavevisiond.wavevisiond" }
 
 running = {}
 
@@ -45,7 +46,7 @@
 # processes to end with SIGINT instead of SIGTERM
 interrupt_processes = ['loggerd']
 
-car_started_processes = ['controlsd', 'loggerd', 'sensord', 'radard', 'calibrationd', 'visiond']
+car_started_processes = ['controlsd', 'loggerd', 'sensord', 'radard', 'calibrationd', 'visiond','wavevisiond']
 
 
 # ****************** process management functions ******************

selfdrive/wavevisiond/wavevisiond.py

@@ -0,0 +1,47 @@
+import zmq
+import sys
+import selfdrive.messaging as messaging
+from common.services import service_list
+import numpy as np
+from common.realtime import sec_since_boot, set_realtime_priority, Ratekeeper
+
+import time
+
+def wavevisiond_thread(gctx,rate=100):
+    print('line 10')
+    set_realtime_priority(1)
+    print('line 12')
+    context = zmq.Context()
+    print('line 14')
+    waveModel = messaging.pub_sock(context, service_list['waveModel'].port)
+    print('line 16')
+
+    while True:
+        print('line 19')
+        msg = messaging.new_message()
+        print('line 21')
+        msg.init('model')
+        print('line 23')
+        msg.path.points=[1.0,5.0,4.0,4.0,5.0]
+        msg.path.prob = 0.743
+        msg.path.std = 0.2
+        print('line 27')
+
+        msg.leftLane.points = [5.0, 4.0, 3.0, 2.0, 1.0 ]
+        msg.leftLane.prob = 0.987
+        msg.leftLane.std = 0.1
+        print('line 32')
+
+        waveModel.send(msg.to_bytes())
+        print('line 35')
+        time.sleep(6)
+        print('line 37')
+
+
+def main(gctx=None):
+    print('line 41')
+    wavevisiond_thread(gctx, 100)
+
+if __name__ == "__main__":
+    print('sys version', sys.version)
+    main()