From 6de58bf481ac7cbbed7481ae9b794aeea7d382df Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 28 Aug 2024 19:16:42 -0700
Subject: [PATCH] setup runner

---
 examples/longitudinal-profiles.py | 58 +++++++++++++++++++++++++++++++
 1 file changed, 58 insertions(+)
 create mode 100755 examples/longitudinal-profiles.py

diff --git a/examples/longitudinal-profiles.py b/examples/longitudinal-profiles.py
new file mode 100755
index 0000000000..9fd6a477c1
--- /dev/null
+++ b/examples/longitudinal-profiles.py
@@ -0,0 +1,58 @@
+#!/usr/bin/env python3
+import time
+
+from panda import Panda
+from opendbc.car.structs import CarControl
+from opendbc.car.car_helpers import get_car
+from opendbc.car.can_definitions import CanData
+
+
+class PandaCan:
+  def __init__(self, p: Panda) -> None:
+    self.p = p
+
+  def can_recv(self, wait_for_one: bool = False) -> list[list[CanData]]:
+    recv = self.p.can_recv()
+    while len(recv) == 0 and wait_for_one:
+      recv = self.p.can_recv()
+    return [[CanData(addr, dat, bus) for addr, dat, bus in recv], ]
+
+  def can_send(self, msgs: list[CanData]) -> None:
+    self.p.can_send_many(msgs)
+
+  def obd_callback(self, obd_multiplexing: bool) -> None:
+    self.p.set_obd(obd_multiplexing)
+
+
+def main():
+  p = Panda()
+  pc = PandaCan(p)
+
+  CI = get_car(pc.can_recv, pc.can_send, pc.obd_callback, True)
+  print("fingerprinted", CI.CP.carName)
+  assert CI.CP.openpilotLongitudinalControl, "Longitudinal control not enabled"
+
+  try:
+    # setup
+    p.set_safety_mode(Panda.SAFETY_ELM327, CI.CP.safetyConfigs[-1].safetyParam)
+    CI.init(CI.CP, pc.can_recv, pc.can_send)
+    p.set_safety_mode(Panda.SAFETY_TOYOTA, CI.CP.safetyConfigs[0].safetyParam)
+
+    # 100Hz controls
+    while True:
+      cs = CI.update([0, pc.can_recv()[0]])
+
+      CC = CarControl()
+      _, can_sends = CI.apply(CC)
+      p.can_send_many(can_sends)
+      
+      #print(cs.vEgo)
+      #print(can_sends)
+
+      time.sleep(0.1)
+  finally:
+    p.set_safety_mode(Panda.SAFETY_NOOUTPUT)
+
+
+if __name__ == "__main__":
+    main()