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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from posix.time cimport clock_gettime, timespec, CLOCK_BOOTTIME, CLOCK_MONOTONIC_RAW
cdef double readclock(int clock_id):
cdef timespec ts
cdef double current
clock_gettime(clock_id, &ts)
current = ts.tv_sec + (ts.tv_nsec / 1000000000.)
return current
def monotonic_time():
return readclock(CLOCK_MONOTONIC_RAW)
def sec_since_boot():
return readclock(CLOCK_BOOTTIME)