mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-19 22:53:55 +08:00
b0c3778aae
* agnos 8
* update to python 3.11.4 (#27452)
* rebase
* optional
* lower cython
* TEMP don't pull cl to use python3.11
* Revert "lower cython"
This reverts commit c5132f8a2727c212bdfc01e77aa53e50a17ead9d.
* fix cython
* remove tensorrt
* carla + opencv
* macos
* update timm and smp
* pynvc
* https
* downgrade numpy
* pin scipy
---------
Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
Co-authored-by: Yassine <yassine.y10@gmail.com>
* revert that
* fix linter
---------
Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
Co-authored-by: Yassine <yassine.y10@gmail.com>
old-commit-hash: 1945c356c2
60 lines
1.6 KiB
Python
Executable File
60 lines
1.6 KiB
Python
Executable File
#!/usr/bin/env python3
|
|
# type: ignore
|
|
|
|
import os
|
|
import argparse
|
|
import struct
|
|
from collections import deque
|
|
from statistics import mean
|
|
|
|
from cereal import log
|
|
import cereal.messaging as messaging
|
|
|
|
if __name__ == "__main__":
|
|
|
|
parser = argparse.ArgumentParser(description='Sniff a communication socket')
|
|
parser.add_argument('--addr', default='127.0.0.1')
|
|
args = parser.parse_args()
|
|
|
|
if args.addr != "127.0.0.1":
|
|
os.environ["ZMQ"] = "1"
|
|
messaging.context = messaging.Context()
|
|
|
|
poller = messaging.Poller()
|
|
messaging.sub_sock('can', poller, addr=args.addr)
|
|
|
|
active = 0
|
|
start_t = 0
|
|
start_v = 0
|
|
max_v = 0
|
|
max_t = 0
|
|
window = deque(maxlen=10)
|
|
avg = 0
|
|
while 1:
|
|
polld = poller.poll(1000)
|
|
for sock in polld:
|
|
msg = sock.receive()
|
|
with log.Event.from_bytes(msg) as log_evt:
|
|
evt = log_evt
|
|
|
|
for item in evt.can:
|
|
if item.address == 0xe4 and item.src == 128:
|
|
torque_req = struct.unpack('!h', item.dat[0:2])[0]
|
|
# print(torque_req)
|
|
active = abs(torque_req) > 0
|
|
if abs(torque_req) < 100:
|
|
if max_v > 5:
|
|
print(f'{start_v} -> {max_v} = {round(max_v - start_v, 2)} over {round(max_t - start_t, 2)}s')
|
|
start_t = evt.logMonoTime / 1e9
|
|
start_v = avg
|
|
max_t = 0
|
|
max_v = 0
|
|
if item.address == 0x1ab and item.src == 0:
|
|
motor_torque = ((item.dat[0] & 0x3) << 8) + item.dat[1]
|
|
window.append(motor_torque)
|
|
avg = mean(window)
|
|
#print(f'{evt.logMonoTime}: {avg}')
|
|
if active and avg > max_v + 0.5:
|
|
max_v = avg
|
|
max_t = evt.logMonoTime / 1e9
|