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 time
import statistics
import cereal.messaging as messaging
from typing import Dict
camera_states = [
'roadCameraState',
'wideRoadCameraState',
'driverCameraState'
]
def fmt(val):
ref = 0.05
return f"{val:.6f} ({100 * val / ref:.2f}%)"
if __name__ == "__main__":
sm = messaging.SubMaster(camera_states)
prev_sof = {state: None for state in camera_states}
diffs: Dict[str, list] = {state: [] for state in camera_states}
st = time.monotonic()
while True:
sm.update()
for state in camera_states:
if sm.updated[state]:
if prev_sof[state] is not None:
diffs[state].append((sm[state].timestampSof - prev_sof[state]) / 1e9)
prev_sof[state] = sm[state].timestampSof
if time.monotonic() - st > 10:
for state in camera_states:
values = diffs[state]
ref = 0.05
print(f"{state} \tMean: {fmt(statistics.mean(values))} \t Min: {fmt(min(values))} \t Max: {fmt(max(values))} \t Std: {statistics.stdev(values):.6f} \t Num frames: {len(values)}")
diffs[state] = []
print()
st = time.monotonic()