You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
41 lines
1.0 KiB
41 lines
1.0 KiB
#!/usr/bin/env python3
|
|
import zmq
|
|
|
|
import cereal.messaging as messaging
|
|
from cereal.services import service_list
|
|
|
|
if __name__ == "__main__":
|
|
poller = zmq.Poller()
|
|
|
|
fsock = messaging.sub_sock("frame", poller)
|
|
msock = messaging.sub_sock("model", poller)
|
|
|
|
frmTimes = {}
|
|
proc = []
|
|
|
|
last100 = []
|
|
|
|
while 1:
|
|
polld = poller.poll(timeout=1000)
|
|
for sock, mode in polld:
|
|
if mode != zmq.POLLIN:
|
|
continue
|
|
if sock == fsock:
|
|
f = messaging.recv_one(sock)
|
|
frmTimes[f.frame.frameId] = f.frame.timestampEof
|
|
else:
|
|
proc.append(messaging.recv_one(sock))
|
|
nproc = []
|
|
for mm in proc:
|
|
fid = mm.model.frameId
|
|
|
|
if fid in frmTimes:
|
|
tm = (mm.logMonoTime-frmTimes[fid])/1e6
|
|
del frmTimes[fid]
|
|
last100.append(tm)
|
|
last100 = last100[-100:]
|
|
print("%10d: %.2f ms min: %.2f max: %.2f" % (fid, tm, min(last100), max(last100)))
|
|
else:
|
|
nproc.append(mm)
|
|
proc = nproc
|
|
|
|
|