openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.

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#!/usr/bin/env python3
import zmq
import cereal.messaging as messaging
from cereal.services import service_list
if __name__ == "__main__":
poller = zmq.Poller()
fsock = messaging.sub_sock("frame", poller)
msock = messaging.sub_sock("model", poller)
frmTimes = {}
proc = []
last100 = []
while 1:
polld = poller.poll(timeout=1000)
for sock, mode in polld:
if mode != zmq.POLLIN:
continue
if sock == fsock:
f = messaging.recv_one(sock)
frmTimes[f.frame.frameId] = f.frame.timestampEof
else:
proc.append(messaging.recv_one(sock))
nproc = []
for mm in proc:
fid = mm.model.frameId
if fid in frmTimes:
tm = (mm.logMonoTime-frmTimes[fid])/1e6
del frmTimes[fid]
last100.append(tm)
last100 = last100[-100:]
print("%10d: %.2f ms min: %.2f max: %.2f" % (fid, tm, min(last100), max(last100)))
else:
nproc.append(mm)
proc = nproc