mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-10-28 00:53:45 +08:00
firestar5683
22a8575199
Keep official openpilot ancestry and dependency licenses. Store resources directly in Git, remove LFS setup requirements, and leave the downloadable big model outside the source tree.
51 lines
1.4 KiB
Python
Executable File
51 lines
1.4 KiB
Python
Executable File
#!/usr/bin/env python3
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import os
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import sys
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import time
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from datetime import datetime
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from collections import defaultdict, deque
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os.environ['NO_RETRY'] = '1' # no spi retries
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from panda import Panda, PandaSpiException
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if __name__ == "__main__":
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s = defaultdict(lambda: deque(maxlen=30))
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def avg(k):
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return sum(s[k])/len(s[k])
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#core = 6
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#from openpilot.common.realtime import config_realtime_process
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#config_realtime_process(core, 10)
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#os.system(f"echo {core} | sudo tee /proc/irq/10/smp_affinity_list")
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#os.system("sudo chrt -f -p 1 $(pgrep -f spi0)")
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#print(f"sudo taskset -pc {core} $(pgrep -f spi0)")
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#os.system(f"sudo taskset -pc {core} $(pgrep -f spi0)")
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p = Panda()
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p.reset()
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start = datetime.now()
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le = p.health()['spi_error_count']
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while True:
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cnt = 0
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st = time.monotonic()
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while time.monotonic() - st < 1:
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try:
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p.get_type() # get_type has no processing on panda side
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except PandaSpiException:
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print(f"ERROR after {datetime.now() - start}\n\n")
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sys.stdout.write("\033[1;32;40m" + p.debug_read().decode('utf8') + "\033[00m" + "\n")
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sys.stdout.flush()
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sys.exit()
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cnt += 1
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s['hz'].append(cnt)
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err = p.health()['spi_error_count']
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s['err'].append((err - le) & 0xFFFFFFFF)
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le = err
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print(
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f"{avg('hz'):04.0f}Hz {avg('err'):04.0f} errors [{cnt:04d}Hz {s['err'][-1]:04d} errors] {datetime.now() - start}"
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)
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