cleanup

tools/latency_logging/gantt.py

@@ -1,58 +0,0 @@
-import cereal.messaging as messaging
-import matplotlib.pyplot as plt
-from collections import defaultdict
-from tabulate import tabulate
-import matplotlib.patches as mpatches
-
-#TODO: meassure camera time also
-# start times cereal
-# one already have delay time
-# fix so both planning are shown
-# commit
-# nicer visual
-# planner publishes more than just sendcan
-
-topics = ['roadCameraState', 'modelV2',  'lateralPlan', 'longitudinalPlan']
-colors = ['red', 'blue', 'green', 'orange']
-
-sm = messaging.SubMaster(topics)
-updated = []
-started = False
-t0=0
-size = 100
-count = 0
-avg_times = defaultdict(list)
-
-fig, gnt = plt.subplots()
-gnt.set_xlim(0, 75)
-gnt.set_ylim(0, size)
-
-while count < size:
-    sm.update()
-    times = sm.logMonoTime
-
-    if sm.updated[topics[0]]:
-        if not started:
-            started = True
-            updated = []
-            continue
-
-        events = {}
-        for topic in updated:
-            time = times[topic]/1e6 if topic != topics[0] else t0
-            time -= t0
-            events[(time, 0.3)] = "tab:"+colors[topics.index(topic)]
-            avg_times[topic].append(time)
-        gnt.broken_barh(events.keys(), (count, 0.9), facecolors=(events.values()))
-        count += 1
-        t0 = times[topics[0]]/1e6
-        updated=[]
-    updated.extend([topic for topic, val in sm.updated.items() if val])
-
-print(tabulate([[topic, sum(t)/len(t), max(t), len(t)] for topic,t in avg_times.items()], headers=["Topic", "avg", "max", "len"]))
-
-
-
-plt.legend(handles=[mpatches.Patch(color=colors[i], label=topics[i]) for i in range(len(topics))])
-plt.show(block=True)
-

tools/latency_logging/latlog.py

@@ -1,47 +0,0 @@
-import cereal.messaging as messaging
-import matplotlib.pyplot as plt
-from collections import defaultdict
-from tabulate import tabulate
-import matplotlib.patches as mpatches
-
-topics = ['roadCameraState', 'wideRoadCameraState', 'driverCameraState', 'modelV2',  'lateralPlan', 'longitudinalPlan', 'carControl']
-frames = defaultdict(lambda: defaultdict(int))
-
-sm = messaging.SubMaster(topics)
-while len(frames) < 50:
-    sm.update()
-    for topic, is_updated in sm.updated.items():
-        if is_updated:
-            if topic == topics[0]:
-                frames[sm[topic].frameId]["road_cam_start"] = sm[topic].timestampSof
-                frames[sm[topic].frameId]["road_cam_end"] = sm[topic].timestampEof
-            if topic == topics[1]:
-                frames[sm[topic].frameId]["wide_cam_start"] = sm[topic].timestampSof
-                frames[sm[topic].frameId]["wide_cam_end"] = sm[topic].timestampEof
-            if topic == topics[2]:
-                frames[sm[topic].frameId]["driver_cam_start"] = sm[topic].timestampSof
-                frames[sm[topic].frameId]["driver_cam_end"] = sm[topic].timestampEof
-            frames[sm[topic].frameId][topic] = sm.logMonoTime[topic]
-                
-avg_times = defaultdict(list)
-
-fig, gnt = plt.subplots()
-gnt.set_xlim(0, 150)
-gnt.set_ylim(0, len(frames))
-colors = {"road_cam_start":'red', "wide_cam_start":'blue', "driver_cam_start":'green', "road_cam_end":'cyan', "wide_cam_end":'magenta', "driver_cam_end":'yellow', 'roadCameraState':'olive', 'wideRoadCameraState':'steelblue', 'driverCameraState':'deeppink', 'modelV2':'darkseagreen', 'lateralPlan':'coral', 'longitudinalPlan':'brown', 'carControl':'gray'}
-
-count = 0
-for frame, times in frames.items():
-    t0 = min(times.values())
-    events = {}
-    for topic, time in times.items():
-        #print("     ", topic, (time-t0)/1e6)
-        events[((time-t0)/1e6, 0.3)] = colors[topic]
-        avg_times[topic].append((time-t0)/1e6)
-    gnt.broken_barh(events.keys(), (count, 0.9), facecolors=(events.values()))
-    count += 1
-
-print(tabulate([[topic, sum(avg_times[topic])/len(avg_times[topic]), max(avg_times[topic]), len(avg_times[topic])] for topic in colors.keys()], headers=["event", "avg", "max", "len"]))
-
-plt.legend(handles=[mpatches.Patch(color=list(colors.values())[i], label=list(colors.keys())[i]) for i in range(len(colors))])
-plt.show(block=True)

tools/latency_logging/msg_order.py

@@ -1,25 +0,0 @@
-import cereal.messaging as messaging
-from collections import defaultdict
-from typing import Dict
-
-topics = ['roadCameraState', 'modelV2',  'lateralPlan', 'longitudinalPlan']
-count = defaultdict(int)
-
-sm = messaging.SubMaster(topics)
-updated = []
-started = False
-while 1:
-    sm.update()
-    if sm.updated[topics[0]]:
-        #print((sm['roadCameraState'].timestampEof-sm['roadCameraState'].timestampSof)/1e6)
-        if not started:
-            started = True
-            updated = ['0']
-            continue
-        count["".join(updated)] += 1
-        for key, val in count.items():
-            print(", ".join([topics[int(c)] for c in key]), val)
-        updated = []
-        print("-----------")
-    updated.extend([str(topics.index(topic)) for topic, val in sm.updated.items() if val])
-

tools/latency_logging/print_json.py

@@ -22,7 +22,7 @@ for frame_id, services in timestamps.items():
     print(tabulate([[item[1][0], item[1][1], item[1][2]] for item in s], headers=["service", "event", "time (ms)"]))
     print()
 
-exit()
+'''
 fig, gnt = plt.subplots()
 maxx = max([max([max(events.values()) for events in services.values()]) for services in timestamps.values()])/1e6
 gnt.set_xlim(0, 150)
@@ -51,3 +51,4 @@ for frame_id, services in timestamps.items():
     count+=1
 print(tabulate([[event, sum(times)/len(times), max(times), len(times)] for event, times in avg_times.items()], headers=["event", "avg", "max", "len"]))
 plt.show(block=True)
+'''

tools/latency_logging/read_cloudlog.py

@@ -9,8 +9,7 @@ from collections import defaultdict
 timestamps = defaultdict(lambda: defaultdict(lambda: defaultdict(list)))
 translationdict = {}
 
-#r = Route("9f583b1d93915c31|2022-03-22--15-59-29")
-r = Route("9f583b1d93915c31|2022-03-23--12-47-33")
+r = Route("9f583b1d93915c31|2022-03-23--14-47-10")
 lr = LogReader(r.log_paths()[0])
 
 for msg in lr:
@@ -34,14 +33,6 @@ for msg in lr:
     timestamps[frame_id][service][event].append(time)
 
 del timestamps[0]
-'''
-
-timestampsshort = defaultdict(lambda: defaultdict(lambda: defaultdict(int)))
-for frame_id, services in timestamps.items():
-    for service, events in services.items():
-        for event, times in events.items():
-            timestampsshort[frame_id][service][event] = min(times)
-'''
 
 with open('timestamps.json', 'w') as outfile:
     json.dump(timestamps, outfile)