translate events

selfdrive/boardd/boardd.cc

@@ -226,10 +226,13 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
     capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg.get()));
     cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
 
+    LOGTT("sendcan received", event.getLogMonoTime(), true);
+
     //Dont send if older than 1 second
     if ((nanos_since_boot() - event.getLogMonoTime() < 1e9) && !fake_send) {
       for (const auto& panda : pandas) {
         panda->can_send(event.getSendcan());
+	LOGTT((std::string("sendcan sent to panda: ")+std::string(panda->usb_serial)).c_str(), event.getLogMonoTime() , true);
       }
     }
   }

selfdrive/common/swaglog.h

@@ -19,13 +19,19 @@ void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func
                                            __func__, \
                                            fmt, ## __VA_ARGS__)
 
-#define cloudlog_t(lvl, event_name, frame_id, ...)                                 \
+#define cloudlog_t_translate(lvl, event_name, frame_id, translate,...)                                 \
 {                                                                 \
   uint64_t ns = nanos_since_boot();                               \
-  std::string msg = std::string("{'timestamp': {'event': '") + std::string(event_name) + std::string("' ,'frameId':")+ std::to_string(frame_id) + std::string(",'time':") + std::to_string(ns)+std::string("}}");   \
-  cloudlog(lvl, msg.c_str(), ## __VA_ARGS__);                             \
+  std::string json_msg = std::string("{'timestamp': {'event': '") + std::string(event_name) + std::string("' ,'frameId':")+ std::to_string(frame_id) + std::string(",'time':") + std::to_string(ns)+ std::string(",'translate':") + std::to_string(translate)+std::string("}}");   \
+  cloudlog(lvl, json_msg.c_str(), ## __VA_ARGS__);                             \
 }
 
+#define cloudlog_t(lvl, event_name, frame_id,...)                                 \
+{                                                                 \
+  uint64_t ns = nanos_since_boot();                               \
+  std::string json_msg = std::string("{'timestamp': {'event': '") + std::string(event_name) + std::string("' ,'frameId':")+ std::to_string(frame_id) + std::string(",'time':") + std::to_string(ns)+ std::string(",'translate':") + std::string("false")+std::string("}}");   \
+  cloudlog(lvl, json_msg.c_str(), ## __VA_ARGS__);                             \
+}
 
 #define cloudlog_rl(burst, millis, lvl, fmt, ...)   \
 {                                                   \
@@ -56,7 +62,8 @@ void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func
   }                                                 \
 }
 
-#define LOGT(event_name , frame_id, ...) cloudlog_t(CLOUDLOG_TIMESTAMP, event_name, frame_id, ## __VA_ARGS__)
+#define LOGTT(event_name , frame_id, translate, ...) cloudlog_t_translate(CLOUDLOG_TIMESTAMP, event_name, frame_id, translate,## __VA_ARGS__)
+#define LOGT(event_name , frame_id, ...) cloudlog_t(CLOUDLOG_TIMESTAMP, event_name, frame_id,## __VA_ARGS__)
 #define LOGD(fmt, ...) cloudlog(CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__)
 #define LOG(fmt, ...) cloudlog(CLOUDLOG_INFO, fmt, ## __VA_ARGS__)
 #define LOGW(fmt, ...) cloudlog(CLOUDLOG_WARNING, fmt, ## __VA_ARGS__)

selfdrive/controls/controlsd.py

@@ -631,7 +631,9 @@ class Controls:
     if not self.read_only and self.initialized:
       # send car controls over can
       self.last_actuators, can_sends = self.CI.apply(CC)
-      self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
+      sendcan_msg = can_list_to_can_capnp(can_sends, msgtype='sendcan')
+      self.pm.send('sendcan', sendcan_msg , valid=CS.canValid)
+      cloudlog.event("translate", logMonoTime=sendcan_msg.logMonoTime, frameId=frame_id)
       cloudlog.timestamp("sendcan Published", frame_id)
       CC.actuatorsOutput = self.last_actuators
 

tools/latency_logging/read_cloudlog.py

@@ -8,7 +8,7 @@ from collections import defaultdict
 
 timestamps = defaultdict(lambda: defaultdict(lambda: defaultdict(list)))
 
-r = Route("9f583b1d93915c31|2022-03-22--15-13-06")
+r = Route("9f583b1d93915c31|2022-03-22--15-59-29")
 lr = LogReader(r.log_paths()[0])
 
 for msg in lr: