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50 lines
1.4 KiB
50 lines
1.4 KiB
#!/usr/bin/env python3
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import argparse
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import numpy as np
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import time
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from collections import defaultdict, deque
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from typing import DefaultDict, Deque, MutableSequence
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import cereal.messaging as messaging
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if __name__ == "__main__":
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context = messaging.Context()
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poller = messaging.Poller()
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parser = argparse.ArgumentParser()
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parser.add_argument("socket", type=str, nargs='*', help="socket name")
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args = parser.parse_args()
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socket_names = args.socket
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sockets = {}
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rcv_times: DefaultDict[str, MutableSequence[float]] = defaultdict(lambda: deque(maxlen=100))
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valids: DefaultDict[str, Deque[bool]] = defaultdict(lambda: deque(maxlen=100))
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t = time.monotonic()
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for name in socket_names:
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sock = messaging.sub_sock(name, poller=poller)
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sockets[sock] = name
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prev_print = t
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while True:
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for socket in poller.poll(100):
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msg = messaging.recv_one(socket)
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if msg is None:
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continue
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name = msg.which()
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t = time.monotonic()
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rcv_times[name].append(msg.logMonoTime / 1e9)
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valids[name].append(msg.valid)
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if t - prev_print > 1:
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print()
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for name in socket_names:
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dts = np.diff(rcv_times[name])
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mean = np.mean(dts)
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print(f"{name}: Freq {1.0 / mean:.2f} Hz, Min {np.min(dts) / mean * 100:.2f}%, Max {np.max(dts) / mean * 100:.2f}%, valid ", all(valids[name]))
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prev_print = t
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