mirror of
https://github.com/infiniteCable2/panda.git
synced 2026-02-18 17:23:52 +08:00
51 lines
1.4 KiB
Python
51 lines
1.4 KiB
Python
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#!/usr/bin/env python3
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import os
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import sys
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import time
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from datetime import datetime
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from collections import defaultdict, deque
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os.environ['NO_RETRY'] = '1' # no spi retries
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from panda import Panda, PandaSpiException
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if __name__ == "__main__":
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s = defaultdict(lambda: deque(maxlen=30))
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def avg(k):
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return sum(s[k])/len(s[k])
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#core = 6
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#from openpilot.common.realtime import config_realtime_process
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#config_realtime_process(core, 10)
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#os.system(f"echo {core} | sudo tee /proc/irq/10/smp_affinity_list")
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#os.system("sudo chrt -f -p 1 $(pgrep -f spi0)")
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#print(f"sudo taskset -pc {core} $(pgrep -f spi0)")
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#os.system(f"sudo taskset -pc {core} $(pgrep -f spi0)")
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p = Panda()
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p.reset()
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start = datetime.now()
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le = p.health()['spi_error_count']
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while True:
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cnt = 0
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st = time.monotonic()
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while time.monotonic() - st < 1:
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try:
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p.get_type() # get_type has no processing on panda side
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except PandaSpiException:
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print(f"ERROR after {datetime.now() - start}\n\n")
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sys.stdout.write("\033[1;32;40m" + p.serial_read(0).decode('utf8') + "\033[00m" + "\n")
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sys.stdout.flush()
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sys.exit()
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cnt += 1
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s['hz'].append(cnt)
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err = p.health()['spi_error_count']
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s['err'].append((err - le) & 0xFFFFFFFF)
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le = err
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print(
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f"{avg('hz'):04.0f}Hz {avg('err'):04.0f} errors [{cnt:04d}Hz {s['err'][-1]:04d} errors] {datetime.now() - start}"
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)
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