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
from cereal.services import service_list
TO_CHECK = ['carState']
if __name__ == "__main__":
sm = messaging.SubMaster(TO_CHECK)
prev_t = {}
while True:
sm.update()
for s in TO_CHECK:
if sm.updated[s]:
t = sm.logMonoTime[s] / 1e9
if s in prev_t:
expected = 1.0 / (service_list[s].frequency)
dt = t - prev_t[s]
if dt > 10 * expected:
print(t, s, dt)
prev_t[s] = t