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
# type: ignore
import cereal.messaging as messaging
all_sockets = ['roadCameraState', 'driverCameraState', 'wideRoadCameraState']
prev_id = [None,None,None]
this_id = [None,None,None]
dt = [None,None,None]
num_skipped = [0,0,0]
if __name__ == "__main__":
sm = messaging.SubMaster(all_sockets)
while True:
sm.update()
for i in range(len(all_sockets)):
if not sm.updated[all_sockets[i]]:
continue
this_id[i] = sm[all_sockets[i]].frameId
if prev_id[i] is None:
prev_id[i] = this_id[i]
continue
dt[i] = this_id[i] - prev_id[i]
if dt[i] != 1:
num_skipped[i] += dt[i] - 1
print(all_sockets[i] ,dt[i] - 1, num_skipped[i])
prev_id[i] = this_id[i]