mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-19 00:43:54 +08:00
Latency logging 2 (#24058)
* msg_order and gantt
* frameId in long/lat planner
* track frame id
* controls frame id
* graph tracked events
* graph json
* cloudlog timestamp
* c++ cloudlog
* add frame id
* bug fixes
* bug fixes
* frame id visionicp
* bug fixes and debug level
* timestamp log placement
* print timestamps in table
* translate events
* more logging
* bug fixes
* daemon boardd
* print logs with boardd
* more timestamp logs
* cleanup
* remove publish logs
* bug fix
* timestamp received
* timestamp received
* bug fixes
* use json lib
* ignore driver camera
* prep for new timestamp pipeline
* bug fix
* read new pipeline unfinnished
* read new pipeline
* bug fix
* add frame to controlsstate
* remove controlsstate
* print
* cleanup
* more cleanup + bug fix
* clock build issue
* remove unused imports
* format durations
* increase speed
* pr comments fixes
* conflicts
* set MANAGER_DAEMON for boardd
* clean script code
* bug fix + argparse
* remove rcv time
* bug fixes
* print without tabulate
* fix pre-commits
* plot gnatt
* color bug fix
* read without timestampextra
* bump panda
* mono time instead of frame id
* finnish script
* clean unused
* clean unused logging
* monotonic + json fixes
* del test
* remove whilelines
* bump laika
* cleanup
* remove deps
* logs nicer strings
* remove plotting from scirpt
* reset pipfile
* reset pipfile
* nicer strings
* bug fix
* bug fix
* pr comments cleaning
* remove plotting
* bug fix
* new demo route
* bump opendbc and panda
* cereal master
* cereal master
* script less komplex
* assertions
* matplotlib
* readme
* Update README.md
* graph html
* design fixes
* more code design
* Update common/logging_extra.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* whitespace
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* Update tools/latency_logger/latency_logger.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* pr comments
* bug fix
* readme + env once
* clean swaglog
* bug fix
* Update tools/latencylogger/README.md
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* revert
* revert
* clean swaglog with error
* remove typo file
* revert graph
* cereal
* submodules
* whitespaces
* update refs
Co-authored-by: Bruce Wayne <batman@workstation-openpilot2.internal>
Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 65fca83abe
This commit is contained in:
Lukas Petersson
@@ -3,6 +3,7 @@ import os
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import sys
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import copy
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import json
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import time
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import uuid
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import socket
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import logging
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@@ -11,6 +12,8 @@ from threading import local
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from collections import OrderedDict
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from contextlib import contextmanager
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LOG_TIMESTAMPS = "LOG_TIMESTAMPS" in os.environ
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def json_handler(obj):
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# if isinstance(obj, (datetime.date, datetime.time)):
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# return obj.isoformat()
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@@ -163,6 +166,15 @@ class SwagLogger(logging.Logger):
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else:
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self.info(evt)
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def timestamp(self, event_name):
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if LOG_TIMESTAMPS:
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t = time.monotonic()
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tstp = NiceOrderedDict()
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tstp['timestamp'] = NiceOrderedDict()
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tstp['timestamp']["event"] = event_name
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tstp['timestamp']["time"] = t*1e9
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self.debug(tstp)
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def findCaller(self, stack_info=False, stacklevel=1):
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"""
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Find the stack frame of the caller so that we can note the source
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@@ -227,7 +227,9 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
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//Dont send if older than 1 second
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if ((nanos_since_boot() - event.getLogMonoTime() < 1e9) && !fake_send) {
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for (const auto& panda : pandas) {
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LOGT("sending sendcan to panda: %s", (panda->usb_serial).c_str());
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panda->can_send(event.getSendcan());
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LOGT("sendcan sent to panda: %s", (panda->usb_serial).c_str());
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}
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}
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}
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@@ -1084,8 +1084,10 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
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if ((c == &s->road_cam && env_send_road) || (c == &s->wide_road_cam && env_send_wide_road)) {
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framed.setImage(get_frame_image(b));
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}
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LOGT("%s: Image set", c == &s->road_cam ? "RoadCamera" : "WideRoadCamera");
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if (c == &s->road_cam) {
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framed.setTransform(b->yuv_transform.v);
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LOGT("%s: Transformed", c == &s->road_cam ? "RoadCamera" : "WideRoadCamera");
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}
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s->pm->send(c == &s->road_cam ? "roadCameraState" : "wideRoadCameraState", msg);
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@@ -63,6 +63,7 @@ class SwaglogState : public LogState {
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};
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static SwaglogState s = {};
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bool LOG_TIMESTAMPS = getenv("LOG_TIMESTAMPS");
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static void log(int levelnum, const char* filename, int lineno, const char* func, const char* msg, const std::string& log_s) {
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if (levelnum >= s.print_level) {
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@@ -71,23 +72,17 @@ static void log(int levelnum, const char* filename, int lineno, const char* func
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char levelnum_c = levelnum;
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zmq_send(s.sock, (levelnum_c + log_s).c_str(), log_s.length() + 1, ZMQ_NOBLOCK);
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}
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void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func,
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const char* fmt, ...) {
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static void cloudlog_common(int levelnum, bool is_timestamp, const char* filename, int lineno, const char* func,
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const char* fmt, va_list args) {
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char* msg_buf = nullptr;
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va_list args;
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va_start(args, fmt);
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int ret = vasprintf(&msg_buf, fmt, args);
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va_end(args);
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if (ret <= 0 || !msg_buf) return;
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std::lock_guard lk(s.lock);
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if (!s.initialized) s.initialize();
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json11::Json log_j = json11::Json::object {
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{"msg", msg_buf},
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json11::Json::object log_j = json11::Json::object {
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{"ctx", s.ctx_j},
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{"levelnum", levelnum},
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{"filename", filename},
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@@ -95,7 +90,37 @@ void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func
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{"funcname", func},
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{"created", seconds_since_epoch()}
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};
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std::string log_s = log_j.dump();
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if (is_timestamp) {
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json11::Json::object tspt_j = json11::Json::object {
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{"timestamp", json11::Json::object{
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{"event", msg_buf},
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{"time", std::to_string(nanos_since_boot())}}
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}
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};
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log_j["msg"] = tspt_j;
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} else {
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log_j["msg"] = msg_buf;
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}
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std::string log_s = ((json11::Json)log_j).dump();
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log(levelnum, filename, lineno, func, msg_buf, log_s);
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free(msg_buf);
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}
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void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func,
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const char* fmt, ...){
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va_list args;
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va_start(args, fmt);
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cloudlog_common(levelnum, false, filename, lineno, func, fmt, args);
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va_end(args);
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}
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void cloudlog_t(int levelnum, const char* filename, int lineno, const char* func,
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const char* fmt, ...){
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if (!LOG_TIMESTAMPS) return;
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va_list args;
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va_start(args, fmt);
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cloudlog_common(levelnum, true, filename, lineno, func, fmt, args);
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va_end(args);
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}
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@@ -9,13 +9,19 @@
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#define CLOUDLOG_CRITICAL 50
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void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func,
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const char* fmt, ...) /*__attribute__ ((format (printf, 6, 7)))*/;
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void cloudlog_t(int levelnum, const char* filename, int lineno, const char* func,
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const char* fmt, ...) /*__attribute__ ((format (printf, 6, 7)))*/;
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#define cloudlog(lvl, fmt, ...) cloudlog_e(lvl, __FILE__, __LINE__, \
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__func__, \
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fmt, ## __VA_ARGS__)
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fmt, ## __VA_ARGS__);
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#define cloudlog_t_m(lvl, fmt, ...) cloudlog_t(lvl, __FILE__, __LINE__, \
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__func__, \
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fmt, ## __VA_ARGS__);
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#define cloudlog_rl(burst, millis, lvl, fmt, ...) \
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{ \
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@@ -46,6 +52,7 @@ void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func
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} \
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}
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#define LOGT(fmt, ...) cloudlog_t_m(CLOUDLOG_DEBUG, fmt,## __VA_ARGS__)
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#define LOGD(fmt, ...) cloudlog(CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__)
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#define LOG(fmt, ...) cloudlog(CLOUDLOG_INFO, fmt, ## __VA_ARGS__)
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#define LOGW(fmt, ...) cloudlog(CLOUDLOG_WARNING, fmt, ## __VA_ARGS__)
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@@ -763,9 +763,11 @@ class Controls:
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# Sample data from sockets and get a carState
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CS = self.data_sample()
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cloudlog.timestamp("Data sampled")
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self.prof.checkpoint("Sample")
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self.update_events(CS)
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cloudlog.timestamp("Events updated")
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if not self.read_only and self.initialized:
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# Update control state
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@@ -103,6 +103,7 @@ class LateralPlanner:
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plan_send.valid = sm.all_alive_and_valid(service_list=['carState', 'controlsState', 'modelV2'])
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lateralPlan = plan_send.lateralPlan
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lateralPlan.modelMonoTime = sm.logMonoTime['modelV2']
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lateralPlan.laneWidth = float(self.LP.lane_width)
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lateralPlan.dPathPoints = self.y_pts.tolist()
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lateralPlan.psis = self.lat_mpc.x_sol[0:CONTROL_N, 2].tolist()
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@@ -11,6 +11,7 @@
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#include "selfdrive/common/clutil.h"
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#include "selfdrive/common/params.h"
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#include "selfdrive/common/timing.h"
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#include "selfdrive/common/swaglog.h"
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constexpr float FCW_THRESHOLD_5MS2_HIGH = 0.15;
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constexpr float FCW_THRESHOLD_5MS2_LOW = 0.05;
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@@ -74,12 +75,15 @@ ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf,
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// if getInputBuf is not NULL, net_input_buf will be
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auto net_input_buf = s->frame->prepare(buf->buf_cl, buf->width, buf->height, transform, static_cast<cl_mem*>(s->m->getInputBuf()));
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s->m->addImage(net_input_buf, s->frame->buf_size);
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LOGT("Image added");
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if (wbuf != nullptr) {
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auto net_extra_buf = s->wide_frame->prepare(wbuf->buf_cl, wbuf->width, wbuf->height, transform_wide, static_cast<cl_mem*>(s->m->getExtraBuf()));
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s->m->addExtra(net_extra_buf, s->wide_frame->buf_size);
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LOGT("Extra image added");
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}
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s->m->execute();
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LOGT("Execution finished");
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return (ModelOutput*)&s->output;
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}
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@@ -1 +1 @@
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fa91a008e1f8078fe02520e31d8b007425194cb8
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156328998163a970ec1e8cb394d3394ce1ae4daa
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87
tools/latencylogger/README.md
Normal file
87
tools/latencylogger/README.md
Normal file
@@ -0,0 +1,87 @@
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# LatencyLogger
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LatencyLogger is a tool to track the time from first pixel to actuation. Timestamps are printed in a table as well as plotted in a graph. Start openpilot with `LOG_TIMESTAMPS=1` set to enable the necessary logging.
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## Usage
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```
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$ python latency_logger.py -h
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usage: latency_logger.py [-h] [--relative] [--demo] [--plot] [route_or_segment_name]
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A tool for analyzing openpilot's end-to-end latency
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positional arguments:
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route_or_segment_name
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The route to print (default: None)
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optional arguments:
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-h, --help show this help message and exit
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--relative Make timestamps relative to the start of each frame (default: False)
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--demo Use the demo route instead of providing one (default: False)
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--plot If a plot should be generated (default: False)
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```
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## Examples
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Plotting with relative starts each process at time=0 and gives a nice overview.
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Plotting without relative provides info about the frames relative time.
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Printed timestamps of a frame with internal durations.
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```
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Frame ID: 303
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camerad
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roadCameraState start of frame 0.0
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wideRoadCameraState start of frame 0.091926
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RoadCamera: Image set 1.691696
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RoadCamera: Transformed 1.812841
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roadCameraState published 51.775466
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wideRoadCameraState published 54.935164
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roadCameraState.processingTime 1.6455530421808362
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wideRoadCameraState.processingTime 4.790564067661762
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modeld
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Image added 56.628788
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Extra image added 57.459923
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Execution finished 75.091306
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modelV2 published 75.24797
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modelV2.modelExecutionTime 20.00947669148445
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modelV2.gpuExecutionTime 0.0
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plannerd
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lateralPlan published 80.426861
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longitudinalPlan published 85.722781
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lateralPlan.solverExecutionTime 1.0600379901006818
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longitudinalPlan.solverExecutionTime 1.3830000534653664
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controlsd
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Data sampled 89.436221
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Events updated 90.356522
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sendcan published 91.396092
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controlsState published 91.77843
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Data sampled 99.885876
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Events updated 100.696855
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sendcan published 101.600489
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controlsState published 101.941839
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Data sampled 110.087669
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Events updated 111.025365
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sendcan published 112.305921
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controlsState published 112.70451
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Data sampled 119.692803
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Events updated 120.56774
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sendcan published 121.735016
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controlsState published 122.142823
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Data sampled 129.264761
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Events updated 130.024282
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sendcan published 130.950364
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controlsState published 131.281558
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boardd
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sending sendcan to panda: 250027001751393037323631 101.705487
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sendcan sent to panda: 250027001751393037323631 102.042462
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sending sendcan to panda: 250027001751393037323631 112.416961
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sendcan sent to panda: 250027001751393037323631 112.792269
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sending sendcan to panda: 250027001751393037323631 121.850952
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sendcan sent to panda: 250027001751393037323631 122.231103
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sending sendcan to panda: 250027001751393037323631 131.045206
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sendcan sent to panda: 250027001751393037323631 131.351296
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sending sendcan to panda: 250027001751393037323631 141.340592
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sendcan sent to panda: 250027001751393037323631 141.700744
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```
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189
tools/latencylogger/latency_logger.py
Normal file
189
tools/latencylogger/latency_logger.py
Normal file
@@ -0,0 +1,189 @@
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import argparse
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import json
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import mpld3
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import sys
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from collections import defaultdict
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import matplotlib.pyplot as plt
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from tools.lib.logreader import logreader_from_route_or_segment
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DEMO_ROUTE = "9f583b1d93915c31|2022-04-01--17-51-29"
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SERVICES = ['camerad', 'modeld', 'plannerd', 'controlsd', 'boardd']
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# Retrive controlsd frameId from lateralPlan, mismatch with longitudinalPlan will be ignored
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MONOTIME_KEYS = ['modelMonoTime', 'lateralPlanMonoTime']
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MSGQ_TO_SERVICE = {
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'roadCameraState': 'camerad',
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'wideRoadCameraState': 'camerad',
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'modelV2': 'modeld',
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'lateralPlan': 'plannerd',
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'longitudinalPlan': 'plannerd',
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'sendcan': 'controlsd',
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'controlsState': 'controlsd'
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}
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SERVICE_TO_DURATIONS = {
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'camerad': ['processingTime'],
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'modeld': ['modelExecutionTime', 'gpuExecutionTime'],
|
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'plannerd': ["solverExecutionTime"],
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}
|
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|
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def read_logs(lr):
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data = defaultdict(lambda: defaultdict(lambda: defaultdict(list)))
|
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mono_to_frame = {}
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frame_mismatches = []
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latest_sendcan_monotime = 0
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for msg in lr:
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if msg.which() == 'sendcan':
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latest_sendcan_monotime = msg.logMonoTime
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continue
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|
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if msg.which() in MSGQ_TO_SERVICE:
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service = MSGQ_TO_SERVICE[msg.which()]
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msg_obj = getattr(msg, msg.which())
|
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|
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frame_id = -1
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if hasattr(msg_obj, "frameId"):
|
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frame_id = msg_obj.frameId
|
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else:
|
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continue_outer = False
|
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for key in MONOTIME_KEYS:
|
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if hasattr(msg_obj, key):
|
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if getattr(msg_obj, key) == 0:
|
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# Filter out controlsd messages which arrive before the camera loop
|
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continue_outer = True
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elif getattr(msg_obj, key) in mono_to_frame:
|
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frame_id = mono_to_frame[getattr(msg_obj, key)]
|
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if continue_outer:
|
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continue
|
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mono_to_frame[msg.logMonoTime] = frame_id
|
||||
|
||||
data['timestamp'][frame_id][service].append((msg.which()+" published", msg.logMonoTime))
|
||||
if service in SERVICE_TO_DURATIONS:
|
||||
for duration in SERVICE_TO_DURATIONS[service]:
|
||||
data['duration'][frame_id][service].append((msg.which()+"."+duration, getattr(msg_obj, duration)))
|
||||
|
||||
if service == SERVICES[0]:
|
||||
data['timestamp'][frame_id][service].append((msg.which()+" start of frame", msg_obj.timestampSof))
|
||||
elif msg.which() == 'controlsState':
|
||||
# Sendcan is published before controlsState, but the frameId is retrived in CS
|
||||
data['timestamp'][frame_id][service].append(("sendcan published", latest_sendcan_monotime))
|
||||
elif msg.which() == 'modelV2':
|
||||
if msg_obj.frameIdExtra != frame_id:
|
||||
frame_mismatches.append(frame_id)
|
||||
|
||||
# Failed frameId fetches are stored in -1
|
||||
assert sum([len(data['timestamp'][-1][service]) for service in data['timestamp'][-1].keys()]) < 20, "Too many frameId fetch fails"
|
||||
del data['timestamp'][-1]
|
||||
assert len(frame_mismatches) < 20, "Too many frame mismatches"
|
||||
return (data, frame_mismatches)
|
||||
|
||||
def get_min_time(frame_id, service, timestamps, use_max=False):
|
||||
return min(timestamps[frame_id][service], key=lambda x: x[1])[1] if not use_max else max(timestamps[frame_id][service], key=lambda x: x[1])[1]
|
||||
|
||||
def get_interval(frame_id, service, timestamps):
|
||||
try:
|
||||
service_max = get_min_time(frame_id, service, timestamps, use_max=True)
|
||||
if service == SERVICES[0]:
|
||||
service_min = get_min_time(frame_id, service, timestamps)
|
||||
return (service_min, service_max)
|
||||
prev_service = SERVICES[SERVICES.index(service)-1]
|
||||
prev_service_max = get_min_time(frame_id, prev_service, timestamps, use_max=True)
|
||||
return (prev_service_max, service_max)
|
||||
except ValueError:
|
||||
return (-1,-1)
|
||||
|
||||
def find_frame_id(time, service, timestamps):
|
||||
for frame_id in reversed(timestamps):
|
||||
start, end = get_interval(frame_id, service, timestamps)
|
||||
if start <= time <= end:
|
||||
return frame_id
|
||||
return -1
|
||||
|
||||
## ASSUMES THAT AT LEAST ONE CLOUDLOG IS MADE IN CONTROLSD
|
||||
def insert_cloudlogs(lr, timestamps):
|
||||
t0 = get_min_time(min(timestamps.keys()), SERVICES[0], timestamps)
|
||||
failed_inserts = 0
|
||||
latest_controls_frameid = 0
|
||||
for msg in lr:
|
||||
if msg.which() == "logMessage":
|
||||
jmsg = json.loads(msg.logMessage)
|
||||
if "timestamp" in jmsg['msg']:
|
||||
time = int(jmsg['msg']['timestamp']['time'])
|
||||
service = jmsg['ctx']['daemon']
|
||||
event = jmsg['msg']['timestamp']['event']
|
||||
if time < t0:
|
||||
# Filter out controlsd messages which arrive before the camera loop
|
||||
continue
|
||||
|
||||
frame_id = latest_controls_frameid if service == "boardd" else find_frame_id(time, service, timestamps)
|
||||
if frame_id > -1:
|
||||
timestamps[frame_id][service].append((event, time))
|
||||
if service == 'controlsd':
|
||||
latest_controls_frameid = frame_id
|
||||
else:
|
||||
failed_inserts += 1
|
||||
assert failed_inserts < len(timestamps), "Too many failed cloudlog inserts"
|
||||
|
||||
def print_timestamps(timestamps, durations ,relative):
|
||||
t0 = get_min_time(min(timestamps.keys()), SERVICES[0], timestamps)
|
||||
for frame_id in timestamps.keys():
|
||||
print('='*80)
|
||||
print("Frame ID:", frame_id)
|
||||
if relative:
|
||||
t0 = get_min_time(frame_id, SERVICES[0], timestamps)
|
||||
for service in SERVICES:
|
||||
print(" "+service)
|
||||
events = timestamps[frame_id][service]
|
||||
for event, time in sorted(events, key = lambda x: x[1]):
|
||||
print(" "+'%-53s%-53s' %(event, str((time-t0)/1e6)))
|
||||
for event, time in durations[frame_id][service]:
|
||||
print(" "+'%-53s%-53s' %(event, str(time*1000)))
|
||||
|
||||
def graph_timestamps(timestamps, relative):
|
||||
t0 = get_min_time(min(timestamps.keys()), SERVICES[0], timestamps)
|
||||
fig, ax = plt.subplots()
|
||||
ax.set_xlim(0, 150 if relative else 750)
|
||||
ax.set_ylim(0, 15)
|
||||
|
||||
points = {"x": [], "y": [], "labels": []}
|
||||
for frame_id, services in timestamps.items():
|
||||
if relative:
|
||||
t0 = get_min_time(frame_id, SERVICES[0], timestamps)
|
||||
service_bars = []
|
||||
for service, events in services.items():
|
||||
start, end = get_interval(frame_id, service,timestamps)
|
||||
service_bars.append(((start-t0)/1e6,(end-start)/1e6))
|
||||
for event in events:
|
||||
points["x"].append((event[1]-t0)/1e6)
|
||||
points["y"].append(frame_id+0.45)
|
||||
points["labels"].append(event[0])
|
||||
ax.broken_barh(service_bars, (frame_id, 0.9), facecolors=(["blue", 'green', 'red', 'yellow', 'purple']))
|
||||
|
||||
scatter = ax.scatter(points['x'], points['y'], marker="d", edgecolor='black')
|
||||
tooltip = mpld3.plugins.PointLabelTooltip(scatter, labels=points["labels"])
|
||||
ax.legend()
|
||||
mpld3.plugins.connect(fig, tooltip)
|
||||
#mpld3.save_html(fig, 'test.html')
|
||||
mpld3.show()
|
||||
|
||||
if __name__ == "__main__":
|
||||
parser = argparse.ArgumentParser(description="A tool for analyzing openpilot's end-to-end latency",
|
||||
formatter_class = argparse.ArgumentDefaultsHelpFormatter)
|
||||
parser.add_argument("--relative", action="store_true", help="Make timestamps relative to the start of each frame")
|
||||
parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one")
|
||||
parser.add_argument("--plot", action="store_true", help="If a plot should be generated")
|
||||
parser.add_argument("route_or_segment_name", nargs='?', help="The route to print")
|
||||
|
||||
if len(sys.argv) == 1:
|
||||
parser.print_help()
|
||||
sys.exit()
|
||||
args = parser.parse_args()
|
||||
|
||||
r = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip()
|
||||
lr = logreader_from_route_or_segment(r, sort_by_time=True)
|
||||
data, frame_mismatches = read_logs(lr)
|
||||
lr.reset()
|
||||
insert_cloudlogs(lr, data['timestamp'])
|
||||
print_timestamps(data['timestamp'], data['duration'], args.relative)
|
||||
if args.plot:
|
||||
graph_timestamps(data['timestamp'], args.relative)
|
||||
@@ -103,13 +103,13 @@ class LogReader:
|
||||
yield ent
|
||||
|
||||
|
||||
def logreader_from_route_or_segment(r):
|
||||
def logreader_from_route_or_segment(r, sort_by_time=False):
|
||||
sn = SegmentName(r, allow_route_name=True)
|
||||
route = Route(sn.route_name.canonical_name)
|
||||
if sn.segment_num < 0:
|
||||
return MultiLogIterator(route.log_paths())
|
||||
return MultiLogIterator(route.log_paths(), sort_by_time)
|
||||
else:
|
||||
return LogReader(route.log_paths()[sn.segment_num])
|
||||
return LogReader(route.log_paths()[sn.segment_num], sort_by_time)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
Reference in New Issue
Block a user