dragonpilot - 基於 openpilot 的開源駕駛輔助系統
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#!/usr/bin/env python3
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# type: ignore
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import cereal.messaging as messaging
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all_sockets = ['roadCameraState', 'driverCameraState', 'wideRoadCameraState']
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prev_id = [None,None,None]
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this_id = [None,None,None]
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dt = [None,None,None]
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num_skipped = [0,0,0]
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if __name__ == "__main__":
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sm = messaging.SubMaster(all_sockets)
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while True:
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sm.update()
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for i in range(len(all_sockets)):
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if not sm.updated[all_sockets[i]]:
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continue
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this_id[i] = sm[all_sockets[i]].frameId
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if prev_id[i] is None:
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prev_id[i] = this_id[i]
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continue
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dt[i] = this_id[i] - prev_id[i]
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if dt[i] != 1:
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num_skipped[i] += dt[i] - 1
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print(all_sockets[i] ,dt[i] - 1, num_skipped[i])
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prev_id[i] = this_id[i]
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