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 numpy as np
import time
from tqdm import tqdm
from cereal import car
from openpilot.selfdrive.car.tests.routes import CarTestRoute
from openpilot.selfdrive.car.tests.test_models import TestCarModelBase
from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE
N_RUNS = 10
class CarModelTestCase(TestCarModelBase):
test_route = CarTestRoute(DEMO_ROUTE, None)
ci = False
if __name__ == '__main__':
# Get CAN messages and parsers
tm = CarModelTestCase()
tm.setUpClass()
tm.setUp()
CC = car.CarControl.new_message()
ets = []
for _ in tqdm(range(N_RUNS)):
msgs = [(m.as_builder().to_bytes(),) for m in tm.can_msgs]
start_t = time.process_time_ns()
for msg in msgs:
for cp in tm.CI.can_parsers:
if cp is not None:
cp.update_strings(msg)
ets.append((time.process_time_ns() - start_t) * 1e-6)
print(f'{len(tm.can_msgs)} CAN packets, {N_RUNS} runs')
print(f'{np.mean(ets):.2f} mean ms, {max(ets):.2f} max ms, {min(ets):.2f} min ms, {np.std(ets):.2f} std ms')
print(f'{np.mean(ets) / len(tm.can_msgs):.4f} mean ms / CAN packet')