From dd676f323601ab1b8b9e33d7980cd3854f71119d Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Fri, 20 Mar 2020 16:35:23 -0700 Subject: [PATCH] Script to check for lags in message reception --- selfdrive/debug/check_lag.py | 26 ++++++++++++++++++++++++++ 1 file changed, 26 insertions(+) create mode 100755 selfdrive/debug/check_lag.py diff --git a/selfdrive/debug/check_lag.py b/selfdrive/debug/check_lag.py new file mode 100755 index 0000000000..418f1f872b --- /dev/null +++ b/selfdrive/debug/check_lag.py @@ -0,0 +1,26 @@ +#!/usr/bin/env python3 +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