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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from cereal.services import service_list
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TO_CHECK = ['carState']
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if __name__ == "__main__":
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sm = messaging.SubMaster(TO_CHECK)
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prev_t = {}
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while True:
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sm.update()
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for s in TO_CHECK:
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if sm.updated[s]:
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t = sm.logMonoTime[s] / 1e9
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if s in prev_t:
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expected = 1.0 / (service_list[s].frequency)
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dt = t - prev_t[s]
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if dt > 10 * expected:
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print(t, s, dt)
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prev_t[s] = t
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