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test time...

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ajouatom
2025-09-01 12:35:01 +09:00
parent 83351db6ef
commit 63e9187736
1 changed files with 9 additions and 9 deletions
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18
selfdrive/car/card.py
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@@ -164,9 +164,9 @@ class Car:
self.is_metric = self.params.get_bool("IsMetric")
self.experimental_mode = self.params.get_bool("ExperimentalMode")
#self.t1 = time.monotonic()
#self.t2 = self.t1
#self.t3 = self.t2
self.t1 = time.monotonic()
self.t2 = self.t1
self.t3 = self.t2
# card is driven by can recv, expected at 100Hz
self.rk = Ratekeeper(100, print_delay_threshold=None)
@@ -187,7 +187,7 @@ class Car:
#RD: structs.RadarDataT | None = self.RI.update_carrot(CS.vEgo, can_list)
self.sm.update(0)
#self.t1 = time.monotonic()
self.t1 = time.monotonic()
can_rcv_valid = len(can_strs) > 0
@@ -199,11 +199,11 @@ class Car:
self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
RD: structs.RadarDataT | None = self.RI.update_carrot(CS.vEgo, rcv_time, can_list)
#self.t2 = time.monotonic()
self.t2 = time.monotonic()
#self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
self.v_cruise_helper.update_v_cruise(CS, self.sm, self.is_metric)
#self.t3 = time.monotonic()
self.t3 = time.monotonic()
if self.sm['carControl'].enabled and not self.CC_prev.enabled:
# Use CarState w/ buttons from the step selfdrived enables on
self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.experimental_mode)
@@ -300,10 +300,10 @@ class Car:
try:
t.start()
while True:
#start = time.monotonic()
start = time.monotonic()
self.step()
#if self.sm.frame % 100 == 0:
# print(f"elapsed time = {(self.t1 - start)*1000.:.2f}, {(self.t2 - self.t1)*1000.:.2f}, {(self.t3 - self.t1)*1000.:.2f}, {(time.monotonic() - self.t1)*1000.:.2f}")
if self.sm.frame % 100 == 0:
print(f"elapsed time = {(self.t1 - start)*1000.:.2f}, {(self.t2 - self.t1)*1000.:.2f}, {(self.t3 - self.t1)*1000.:.2f}, {(time.monotonic() - self.t1)*1000.:.2f}")
self.rk.monitor_time()
finally:
e.set()