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42 lines
1.0 KiB
Python
Executable File
42 lines
1.0 KiB
Python
Executable File
#!/usr/bin/env python3
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import zmq
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import cereal.messaging as messaging
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from cereal.services import service_list
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if __name__ == "__main__":
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poller = zmq.Poller()
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fsock = messaging.sub_sock("frame", poller)
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msock = messaging.sub_sock("model", poller)
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frmTimes = {}
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proc = []
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last100 = []
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while 1:
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polld = poller.poll(timeout=1000)
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for sock, mode in polld:
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if mode != zmq.POLLIN:
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continue
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if sock == fsock:
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f = messaging.recv_one(sock)
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frmTimes[f.frame.frameId] = f.frame.timestampEof
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else:
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proc.append(messaging.recv_one(sock))
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nproc = []
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for mm in proc:
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fid = mm.model.frameId
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if fid in frmTimes:
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tm = (mm.logMonoTime-frmTimes[fid])/1e6
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del frmTimes[fid]
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last100.append(tm)
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last100 = last100[-100:]
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print("%10d: %.2f ms min: %.2f max: %.2f" % (fid, tm, min(last100), max(last100)))
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else:
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nproc.append(mm)
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proc = nproc
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