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
import datetime
from collections.abc import MutableSequence
from collections import defaultdict
import cereal.messaging as messaging
if __name__ == "__main__":
ts: defaultdict[str, MutableSequence[float]] = defaultdict(list)
socks = {s: messaging.sub_sock(s, conflate=False) for s in sys.argv[1:]}
try:
st = time.monotonic()
while True:
print()
for s, sock in socks.items():
msgs = messaging.drain_sock(sock)
for m in msgs:
ts[s].append(m.logMonoTime / 1e6)
if len(ts[s]) > 2:
d = np.diff(ts[s])[-100:]
print(f"{s:25} {np.mean(d):7.2f} {np.std(d):7.2f} {np.max(d):7.2f} {np.min(d):7.2f}")
time.sleep(1)
except KeyboardInterrupt:
print("\n")
print("="*5, "timing summary", "="*5)
for s, sock in socks.items():
msgs = messaging.drain_sock(sock)
if len(ts[s]) > 2:
d = np.diff(ts[s])
print(f"{s:25} {np.mean(d):7.2f} {np.std(d):7.2f} {np.max(d):7.2f} {np.min(d):7.2f}")
print("="*5, datetime.timedelta(seconds=time.monotonic()-st), "="*5)