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 sys
import time
import numpy as np
from typing import List
from common.realtime import Ratekeeper
def average(avg, sample):
# Weighted avg between existing value and new sample
return ((avg[0] * avg[1] + sample) / (avg[1] + 1), avg[1] + 1)
def sample_power(seconds=5) -> List[float]:
rate = 123
rk = Ratekeeper(rate, print_delay_threshold=None)
pwrs = []
for _ in range(rate*seconds):
with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/power1_input") as f:
pwrs.append(int(f.read()) / 1e6)
rk.keep_time()
return pwrs
def get_power(seconds=5):
pwrs = sample_power(seconds)
return np.mean(pwrs)
if __name__ == '__main__':
sample_time = None
if len(sys.argv) > 1:
sample_time = int(sys.argv[1])
start_time = time.monotonic()
try:
voltage_average = (0, 0) # average, count
current_average = (0, 0)
power_average = (0, 0)
while sample_time is None or time.monotonic() - start_time < sample_time:
with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/in1_input") as f:
voltage_total = int(f.read()) / 1000.
with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/curr1_input") as f:
current_total = int(f.read())
# SOM measurements are questionable
#with open("/sys/class/power_supply/bms/voltage_now") as f:
# voltage = int(f.read()) / 1e6 # volts
#with open("/sys/class/power_supply/bms/current_now") as f:
# current = int(f.read()) / 1e3 # ma
power_total = voltage_total*current_total
# compute averages
voltage_average = average(voltage_average, voltage_total)
current_average = average(current_average, current_total)
power_average = average(power_average, power_total)
print(f"now: {power_total:.2f} mW, avg: {power_average[0]:.2f} mW")
time.sleep(0.25)
except KeyboardInterrupt:
pass
finally:
stop_time = time.monotonic()
print("\n----------------------Average-----------------------------------")
voltage = voltage_average[0]
current = current_average[0]
power = power_average[0]
print(f"{voltage:.2f} volts {current:12.2f} ma {power:12.2f} mW {power_total:12.2f} mW")
print(f" {stop_time - start_time:.2f} Seconds {voltage_average[1]} samples")
print("----------------------------------------------------------------")