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submaster: improve avg frequency calculation for efficiency (#33516)

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improve avg freq calculation for efficiency
This commit is contained in:
Dean Lee
2024-09-30 01:15:26 +08:00
committed by GitHub
parent f99d81d0fa
commit 3c456f5b8d
1 changed files with 17 additions and 4 deletions
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cereal/messaging/__init__.py
+17 -4
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@@ -109,12 +109,26 @@ class FrequencyTracker:
self.min_freq = min_freq * 0.8
self.max_freq = max_freq * 1.2
self.recv_dts: Deque[float] = deque(maxlen=int(10 * freq))
self.recv_dts_sum = 0.0
self.recent_recv_dts: Deque[float] = deque(maxlen=int(freq))
self.recent_recv_dts_sum = 0.0
self.prev_time = 0.0
def record_recv_time(self, cur_time: float) -> None:
# TODO: Handle case where cur_time is less than prev_time
if self.prev_time > 1e-5:
self.recv_dts.append(cur_time - self.prev_time)
dt = cur_time - self.prev_time
if len(self.recv_dts) == self.recv_dts.maxlen:
self.recv_dts_sum -= self.recv_dts[0]
self.recv_dts.append(dt)
self.recv_dts_sum += dt
if len(self.recent_recv_dts) == self.recent_recv_dts.maxlen:
self.recent_recv_dts_sum -= self.recent_recv_dts[0]
self.recent_recv_dts.append(dt)
self.recent_recv_dts_sum += dt
self.prev_time = cur_time
@property
@@ -122,12 +136,11 @@ class FrequencyTracker:
if not self.recv_dts:
return False
avg_freq = len(self.recv_dts) / sum(self.recv_dts)
avg_freq = len(self.recv_dts) / self.recv_dts_sum
if self.min_freq <= avg_freq <= self.max_freq:
return True
recent_dts = list(self.recv_dts)[-int(self.recv_dts.maxlen / 10):]
avg_freq_recent = len(recent_dts) / sum(recent_dts)
avg_freq_recent = len(self.recent_recv_dts) / self.recent_recv_dts_sum
return self.min_freq <= avg_freq_recent <= self.max_freq