Beautiful camera timings (#34558)

* the start of something beautiful * mv that * cleanup * cleanup output * the good stuff --------- Co-authored-by: Comma Device <device@comma.ai>
2026-02-19 00:43:54 +08:00 · 2025-02-14 21:33:50 -08:00
parent c4ee645fbc
commit 958c8d1ce3
6 changed files with 46 additions and 45 deletions
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="11.7"
+  export AGNOS_VERSION="11.8"
 fi

 export STAGING_ROOT="/data/safe_staging"
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -214,6 +214,7 @@ class TestOnroad:
    assert len(big_logs) == 0, f"Log spam: {big_logs}"

  def test_log_sizes(self, subtests):
+    # TODO: this isn't super stable between different devices
    for f, sz in self.log_sizes.items():
      rate = LOGS_SIZE[f.name]/60.
      minn = rate * TEST_DURATION * 0.5
@@ -313,21 +314,20 @@ class TestOnroad:
  def test_gpu_usage(self):
    assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.modeld.modeld", "selfdrive.modeld.dmonitoringmodeld"}

-  @pytest.mark.skip("TODO: enable once timings are fixed")
  def test_camera_frame_timings(self, subtests):
    result = "\n"
    result += "------------------------------------------------\n"
-    result += "-----------------  SoF Timing ------------------\n"
+    result += "-----------------  SOF Timing ------------------\n"
    result += "------------------------------------------------\n"
    for name in ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']:
      ts = [getattr(m, m.which()).timestampSof for m in self.lr if name in m.which()]
      d_ms = np.diff(ts) / 1e6
      d50 = np.abs(d_ms-50)
-      result += f"{name} sof delta vs 50ms: min  {min(d50):.5f}s\n"
-      result += f"{name} sof delta vs 50ms: max  {max(d50):.5f}s\n"
-      result += f"{name} sof delta vs 50ms: mean {d50.mean():.5f}s\n"
+      result += f"{name} sof delta vs 50ms: min  {min(d50):.2f}ms\n"
+      result += f"{name} sof delta vs 50ms: max  {max(d50):.2f}ms\n"
+      result += f"{name} sof delta vs 50ms: mean {d50.mean():.2f}ms\n"
      with subtests.test(camera=name):
-        assert max(d50) < 1.0, f"high SOF delta vs 50ms: {max(d50)}"
+        assert max(d50) < 5.0, f"high SOF delta vs 50ms: {max(d50)}"
    result += "------------------------------------------------\n"
    print(result)

--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -56,28 +56,28 @@
  },
  {
    "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-69768d810e84183fb334a493c0a775a6fce19ed2fb57bd8716f4b5c2819c2316.img.xz",
-    "hash": "69768d810e84183fb334a493c0a775a6fce19ed2fb57bd8716f4b5c2819c2316",
-    "hash_raw": "69768d810e84183fb334a493c0a775a6fce19ed2fb57bd8716f4b5c2819c2316",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-c7cba1ce64bf85384241fa063971855c5ffcb4d90a0d07bed4733d46b94d4170.img.xz",
+    "hash": "c7cba1ce64bf85384241fa063971855c5ffcb4d90a0d07bed4733d46b94d4170",
+    "hash_raw": "c7cba1ce64bf85384241fa063971855c5ffcb4d90a0d07bed4733d46b94d4170",
    "size": 18475008,
    "sparse": false,
    "full_check": true,
    "has_ab": true,
-    "ondevice_hash": "93161cec2f4dbb9e95b56b8f612c80577530e97993348dd68b06295c5a0be786"
+    "ondevice_hash": "6a9a71bf01f2013f35bda9594cefe3cb4a3835402a6cb0e95306fe4decf261c5"
  },
  {
    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-df46308f7255c32db1559bfa09105da42499aed84e1b52036cdb03722e73dc20.img.xz",
-    "hash": "29720fbf9461c2ff7e7a064836b57202c2cc75e85f11acde0facaefe426860fb",
-    "hash_raw": "df46308f7255c32db1559bfa09105da42499aed84e1b52036cdb03722e73dc20",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625.img.xz",
+    "hash": "990ff7005a5bee8e759c96ddba23f1258f043fb038cf74083bf7d2d9c9a29e39",
+    "hash_raw": "cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625",
    "size": 4404019200,
    "sparse": true,
    "full_check": false,
    "has_ab": true,
-    "ondevice_hash": "673046924131648b2ee0fe1b42fc9b9ee8f37112b26339ca479d9b0e5ca88288",
+    "ondevice_hash": "d922fffe1b5f02898465a2d6625294abb70d22643ebf2d6a94f5d7512291d1a4",
    "alt": {
-      "hash": "df46308f7255c32db1559bfa09105da42499aed84e1b52036cdb03722e73dc20",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-df46308f7255c32db1559bfa09105da42499aed84e1b52036cdb03722e73dc20.img",
+      "hash": "cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625.img",
      "size": 4404019200
    }
  }
--- a/system/hardware/tici/all-partitions.json
+++ b/system/hardware/tici/all-partitions.json
@@ -339,62 +339,62 @@
  },
  {
    "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-69768d810e84183fb334a493c0a775a6fce19ed2fb57bd8716f4b5c2819c2316.img.xz",
-    "hash": "69768d810e84183fb334a493c0a775a6fce19ed2fb57bd8716f4b5c2819c2316",
-    "hash_raw": "69768d810e84183fb334a493c0a775a6fce19ed2fb57bd8716f4b5c2819c2316",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-c7cba1ce64bf85384241fa063971855c5ffcb4d90a0d07bed4733d46b94d4170.img.xz",
+    "hash": "c7cba1ce64bf85384241fa063971855c5ffcb4d90a0d07bed4733d46b94d4170",
+    "hash_raw": "c7cba1ce64bf85384241fa063971855c5ffcb4d90a0d07bed4733d46b94d4170",
    "size": 18475008,
    "sparse": false,
    "full_check": true,
    "has_ab": true,
-    "ondevice_hash": "93161cec2f4dbb9e95b56b8f612c80577530e97993348dd68b06295c5a0be786"
+    "ondevice_hash": "6a9a71bf01f2013f35bda9594cefe3cb4a3835402a6cb0e95306fe4decf261c5"
  },
  {
    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-df46308f7255c32db1559bfa09105da42499aed84e1b52036cdb03722e73dc20.img.xz",
-    "hash": "29720fbf9461c2ff7e7a064836b57202c2cc75e85f11acde0facaefe426860fb",
-    "hash_raw": "df46308f7255c32db1559bfa09105da42499aed84e1b52036cdb03722e73dc20",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625.img.xz",
+    "hash": "990ff7005a5bee8e759c96ddba23f1258f043fb038cf74083bf7d2d9c9a29e39",
+    "hash_raw": "cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625",
    "size": 4404019200,
    "sparse": true,
    "full_check": false,
    "has_ab": true,
-    "ondevice_hash": "673046924131648b2ee0fe1b42fc9b9ee8f37112b26339ca479d9b0e5ca88288",
+    "ondevice_hash": "d922fffe1b5f02898465a2d6625294abb70d22643ebf2d6a94f5d7512291d1a4",
    "alt": {
-      "hash": "df46308f7255c32db1559bfa09105da42499aed84e1b52036cdb03722e73dc20",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-df46308f7255c32db1559bfa09105da42499aed84e1b52036cdb03722e73dc20.img",
+      "hash": "cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625.img",
      "size": 4404019200
    }
  },
  {
    "name": "userdata_90",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-49c107286e7f88b015b5377d5ff1bd1f0e6bfc2a1a637a2bd1edb3bc70bc968e.img.xz",
-    "hash": "192c5b628f7eff3a69d00e3401d894a7afb1c1d8bd867110b78d496dbbe9b44a",
-    "hash_raw": "49c107286e7f88b015b5377d5ff1bd1f0e6bfc2a1a637a2bd1edb3bc70bc968e",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-554a22697b356cb150c2c803b4cb1de79403849e9be451c844d218d38b5bc236.img.xz",
+    "hash": "4f0a862e3aff4980e697ece63afaef6f9869d013ac2ca4c45193e41089ee4f5c",
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    "size": 96636764160,
    "sparse": true,
    "full_check": true,
    "has_ab": false,
-    "ondevice_hash": "643a00a2c4e4142908212f517458d278fb83cdf599727ea4a0114fd5309ceeaf"
+    "ondevice_hash": "5d780092d51c569e6b8a28ab73f4029bcc3517698f496af5801f863c9865060f"
  },
  {
    "name": "userdata_89",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-f118180ab961e826b54eb1841b2d5c8704ecd812ed3edc0c49b91b3abb4773f2.img.xz",
-    "hash": "07b224cb109d0438edec58451d2e9cb6f4c1361fd3dd79c2b81d5d1f19afd37e",
-    "hash_raw": "f118180ab961e826b54eb1841b2d5c8704ecd812ed3edc0c49b91b3abb4773f2",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-6045b9a3f1ae6e0ee09b95da039b697ab8d8447cdd0796fa31afa9c7d324ee80.img.xz",
+    "hash": "ba49fef48573e9befdfb6334181753855cb83d3e1d8c6d4d83d510ea0141ec3f",
+    "hash_raw": "6045b9a3f1ae6e0ee09b95da039b697ab8d8447cdd0796fa31afa9c7d324ee80",
    "size": 95563022336,
    "sparse": true,
    "full_check": true,
    "has_ab": false,
-    "ondevice_hash": "57efeb0efd20f4dd6a0c0b269174609e40035ac6a1b453172e317239373f8a38"
+    "ondevice_hash": "19b63b184063c25ff2fc9f1c8d1c919c140c3e1295ebac6cb66e64c5cb609abe"
  },
  {
    "name": "userdata_30",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-47f48a8a12200fd4370f391211ea59392e392705364c46677a820cc1bacc25f9.img.xz",
-    "hash": "25fdd42785a830bfeb55d66f0d4f626cea3b7f0b894168464a499752707bb405",
-    "hash_raw": "47f48a8a12200fd4370f391211ea59392e392705364c46677a820cc1bacc25f9",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-498358c1e5347dc3f8c369523bd77b94ef73d6c6729b40f376209d0d32b356fe.img.xz",
+    "hash": "828d0911713af02de7fae4c583a2274783e344939f296c7c016866a8cf2cb63f",
+    "hash_raw": "498358c1e5347dc3f8c369523bd77b94ef73d6c6729b40f376209d0d32b356fe",
    "size": 32212254720,
    "sparse": true,
    "full_check": true,
    "has_ab": false,
-    "ondevice_hash": "e4e224c8f0a444e348df7de2f341c1af67a80db3135fa6deaf53970af1d51070"
+    "ondevice_hash": "4beb60ffceff88b05daa014db50cb2f4e9acec3ed7ae1b89a8d3c84cfc3c1c92"
  }
 ]
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -390,7 +390,7 @@ class Tici(HardwareBase):
    # camerad core
    camera_irqs = ("a5", "cci", "cpas_camnoc", "cpas-cdm", "csid", "ife", "csid-lite", "ife-lite")
    for n in camera_irqs:
-      affine_irq(5, n)
+      affine_irq(6, n)

  def get_gpu_usage_percent(self):
    try:
--- a/tools/profiling/ftrace.sh
+++ b/tools/profiling/ftrace.sh
@@ -8,14 +8,15 @@ echo boot > trace_clock
 echo 1000 > buffer_size_kb

 # /sys/kernel/tracing/available_events
-echo 1 > events/irq/enable
-echo 1 > events/sched/enable
-echo 1 > events/kgsl/enable
-echo 1 > events/camera/enable
+echo 0 > events/enable
+#echo 1 > events/irq/enable
+#echo 1 > events/sched/enable
+#echo 1 > events/kgsl/enable
+#echo 1 > events/camera/enable
 echo 1 > events/workqueue/enable

 echo > trace
-sleep 5
+sleep 2
 echo 0 > tracing_on

 cp trace /tmp/trace