IQ.Pilot Prebuilt Release @ 27f668a

iqpilot/tools/iqperf/check_timings.py

@@ -0,0 +1,36 @@
+#!/usr/bin/env python3
+import sys
+import time
+import numpy as np
+import datetime
+from collections.abc import MutableSequence
+from collections import defaultdict
+
+import iqpilot.cereal.messaging as messaging
+
+
+if __name__ == "__main__":
+  ts: defaultdict[str, MutableSequence[float]] = defaultdict(list)
+  socks = {s: messaging.sub_sock(s, conflate=False) for s in sys.argv[1:]}
+  try:
+    st = time.monotonic()
+    while True:
+      print()
+      for s, sock in socks.items():
+        msgs = messaging.drain_sock(sock)
+        for m in msgs:
+          ts[s].append(m.logMonoTime / 1e6)
+
+        if len(ts[s]) > 2:
+          d = np.diff(ts[s])[-100:]
+          print(f"{s:25} {np.mean(d):7.2f} {np.std(d):7.2f} {np.max(d):7.2f} {np.min(d):7.2f}")
+      time.sleep(1)
+  except KeyboardInterrupt:
+    print("\n")
+    print("="*5, "timing summary", "="*5)
+    for s, sock in socks.items():
+      msgs = messaging.drain_sock(sock)
+      if len(ts[s]) > 2:
+        d = np.diff(ts[s])
+        print(f"{s:25} {np.mean(d):7.2f} {np.std(d):7.2f} {np.max(d):7.2f} {np.min(d):7.2f}")
+    print("="*5, datetime.timedelta(seconds=time.monotonic()-st), "="*5)