#!/usr/bin/env python3
import numpy as np
import time
from tqdm import tqdm
from cereal import car
from openpilot . selfdrive . car . tests . routes import CarTestRoute
from openpilot . selfdrive . car . tests . test_models import TestCarModelBase
from openpilot . tools . plotjuggler . juggle import DEMO_ROUTE
N_RUNS = 10
class CarModelTestCase ( TestCarModelBase ) :
test_route = CarTestRoute ( DEMO_ROUTE , None )
ci = False
if __name__ == ' __main__ ' :
# Get CAN messages and parsers
tm = CarModelTestCase ( )
tm . setUpClass ( )
tm . setUp ( )
CC = car . CarControl . new_message ( )
ets = [ ]
for _ in tqdm ( range ( N_RUNS ) ) :
start_t = time . process_time_ns ( )
for msg in tm . can_msgs :
for cp in tm . CI . can_parsers :
if cp is not None :
cp . update_strings ( ( msg . as_builder ( ) . to_bytes ( ) , ) )
ets . append ( ( time . process_time_ns ( ) - start_t ) * 1e-6 )
print ( f ' { len ( tm . can_msgs ) } CAN packets, { N_RUNS } runs ' )
print ( f ' { np . mean ( ets ) : .2f } mean ms, { max ( ets ) : .2f } max ms, { min ( ets ) : .2f } min ms, { np . std ( ets ) : .2f } std ms ' )
print ( f ' { np . mean ( ets ) / len ( tm . can_msgs ) : .4f } mean ms / CAN packet ' )
