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common: add MovingAverage class for real-time windowed average calculation (#34569)

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* add MovingAverage class for real-time windowed average calculation

* move to util.py
This commit is contained in:
Dean Lee
2025-02-22 06:47:21 +08:00
committed by GitHub
parent c3c878908d
commit 61bec65f32
3 changed files with 39 additions and 23 deletions
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cereal/messaging/__init__.py
+9 -18
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@@ -9,11 +9,11 @@ import os
import capnp
import time
from typing import Optional, List, Union, Dict, Deque
from collections import deque
from typing import Optional, List, Union, Dict
from cereal import log
from cereal.services import SERVICE_LIST
from openpilot.common.util import MovingAverage
NO_TRAVERSAL_LIMIT = 2**64-1
@@ -108,10 +108,8 @@ 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.avg_dt = MovingAverage(int(10 * freq))
self.recent_avg_dt = MovingAverage(int(freq))
self.prev_time = 0.0
def record_recv_time(self, cur_time: float) -> None:
@@ -119,28 +117,21 @@ class FrequencyTracker:
if self.prev_time > 1e-5:
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.avg_dt.add_value(dt)
self.recent_avg_dt.add_value(dt)
self.prev_time = cur_time
@property
def valid(self) -> bool:
if not self.recv_dts:
if self.avg_dt.count == 0:
return False
avg_freq = len(self.recv_dts) / self.recv_dts_sum
avg_freq = 1.0 / self.avg_dt.get_average()
if self.min_freq <= avg_freq <= self.max_freq:
return True
avg_freq_recent = len(self.recent_recv_dts) / self.recent_recv_dts_sum
avg_freq_recent = 1.0 / self.recent_avg_dt.get_average()
return self.min_freq <= avg_freq_recent <= self.max_freq