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latency logger: better errors and minor cleanup

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old-commit-hash: 930d0c01a90ba6a7b321516a276cc0e6e6862514
This commit is contained in:
Adeeb Shihadeh
2022-05-04 14:16:27 -07:00
parent 24c9e250f9
commit 0195ae1464
1 changed files with 17 additions and 15 deletions
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32
tools/latencylogger/latency_logger.py
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@@ -7,7 +7,7 @@ import sys
from collections import defaultdict
from tools.lib.logreader import logreader_from_route_or_segment
DEMO_ROUTE = "9f583b1d93915c31|2022-04-26--18-49-49"
SERVICES = ['camerad', 'modeld', 'plannerd', 'controlsd', 'boardd']
@@ -25,7 +25,7 @@ MSGQ_TO_SERVICE = {
SERVICE_TO_DURATIONS = {
'camerad': ['processingTime'],
'modeld': ['modelExecutionTime', 'gpuExecutionTime'],
'plannerd': ["solverExecutionTime"],
'plannerd': ['solverExecutionTime'],
}
def read_logs(lr):
@@ -38,7 +38,7 @@ def read_logs(lr):
if msg.which() == 'sendcan':
latest_sendcan_monotime = msg.logMonoTime
continue
if msg.which() in MSGQ_TO_SERVICE:
service = MSGQ_TO_SERVICE[msg.which()]
msg_obj = getattr(msg, msg.which())
@@ -105,9 +105,10 @@ def find_t0(start_times, frame_id=-1):
frame_id += 1
raise Exception('No start time has been set')
## ASSUMES THAT AT LEAST ONE CLOUDLOG IS MADE IN CONTROLSD
def insert_cloudlogs(lr, timestamps, start_times, end_times):
t0 = find_t0(start_times)
# at least one cloudlog must be made in controlsd
t0 = find_t0(start_times)
failed_inserts = 0
latest_controls_frameid = 0
for msg in lr:
@@ -118,7 +119,7 @@ def insert_cloudlogs(lr, timestamps, start_times, end_times):
service = jmsg['ctx']['daemon']
event = jmsg['msg']['timestamp']['event']
if time < t0:
# Filter out controlsd messages which arrive before the camera loop
# Filter out controlsd messages which arrive before the camera loop
continue
if "frame_id" in jmsg['msg']['timestamp']:
@@ -139,29 +140,30 @@ def insert_cloudlogs(lr, timestamps, start_times, end_times):
timestamps[frame_id][service].append((event, time))
else:
failed_inserts += 1
if latest_controls_frameid == 0:
print("Warning, no timestamp in controlsd. Implementation assumes that a timestamp is made in controlsd to bind boardd logs to frame ID. Please add such a timestamp.")
print("Warning: failed to bind boardd logs to a frame ID. Add a timestamp cloudlog in controlsd.")
elif failed_inserts > len(timestamps):
print("Warning, many cloudlog inserts failed", failed_inserts)
print(f"Warning: failed to bind {failed_inserts} cloudlog timestamps to a frame ID")
def print_timestamps(timestamps, durations, start_times, relative):
t0 = find_t0(start_times)
t0 = find_t0(start_times)
for frame_id in timestamps.keys():
print('='*80)
print("Frame ID:", frame_id)
if relative:
t0 = find_t0(start_times, frame_id)
t0 = find_t0(start_times, frame_id)
for service in SERVICES:
print(" "+service)
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)))
print(" "+'%-53s%-53s' %(event, str((time-t0)/1e6)))
for event, time in durations[frame_id][service]:
print(" "+'%-53s%-53s' %(event, str(time*1000)))
print(" "+'%-53s%-53s' %(event, str(time*1000)))
def graph_timestamps(timestamps, start_times, end_times, relative):
t0 = find_t0(start_times)
t0 = find_t0(start_times)
fig, ax = plt.subplots()
ax.set_xlim(0, 150 if relative else 750)
ax.set_ylim(0, 15)
@@ -172,7 +174,7 @@ def graph_timestamps(timestamps, start_times, end_times, relative):
points = {"x": [], "y": [], "labels": []}
for i, (frame_id, services) in enumerate(timestamps.items()):
if relative:
t0 = find_t0(start_times, frame_id)
t0 = find_t0(start_times, frame_id)
service_bars = []
for service, events in services.items():
if start_times[frame_id][service] and end_times[frame_id][service]: