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#!/usr/bin/env python3
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import numpy as np
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import time
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from tqdm import tqdm
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from cereal import car
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from opendbc.car.tests.routes import CarTestRoute
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from openpilot.selfdrive.car.tests.test_models import TestCarModelBase
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from openpilot.selfdrive.pandad import can_capnp_to_list
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from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE
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N_RUNS = 10
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class CarModelTestCase(TestCarModelBase):
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test_route = CarTestRoute(DEMO_ROUTE, None)
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ci = False
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if __name__ == '__main__':
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# Get CAN messages and parsers
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tm = CarModelTestCase()
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tm.setUpClass()
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tm.setUp()
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CC = car.CarControl.new_message()
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ets = []
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for _ in tqdm(range(N_RUNS)):
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msgs = [m.as_builder().to_bytes() for m in tm.can_msgs]
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start_t = time.process_time_ns()
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for msg in msgs:
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can_list = can_capnp_to_list([msg])
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for cp in tm.CI.can_parsers:
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if cp is not None:
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cp.update_strings(can_list)
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ets.append((time.process_time_ns() - start_t) * 1e-6)
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print(f'{len(tm.can_msgs)} CAN packets, {N_RUNS} runs')
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print(f'{np.mean(ets):.2f} mean ms, {max(ets):.2f} max ms, {min(ets):.2f} min ms, {np.std(ets):.2f} std ms')
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print(f'{np.mean(ets) / len(tm.can_msgs):.4f} mean ms / CAN packet')
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