print timestamps in table

panda

@@ -1 +1 @@
-Subproject commit ba10911dbc0a6f2c5c04886ca793f6ac38400cd3
+Subproject commit e6722c7f99b8f7b9f81bb0216edb88cc2e5ad7c0

selfdrive/controls/plannerd.py

@@ -37,7 +37,7 @@ def plannerd_thread(sm=None, pm=None):
 
     if sm.updated['modelV2']:
       frame_id = sm['modelV2'].frameId
-      cloudlog.timestamp("Model updated", frame_id)
+      cloudlog.timestamp("ModelV2 recived", frame_id)
       lateral_planner.update(sm)
       cloudlog.timestamp("lateral planner updated", frame_id)
       lateral_planner.publish(sm, pm)

tools/latency_logging/graph_json.py

@@ -9,6 +9,19 @@ json_file = open('timestamps.json')
 timestamps = json.load(json_file)
 
 
+for frame_id, services in timestamps.items():
+    t0 = min([min(events.values())for events in services.values()])
+    print(frame_id)
+    d = defaultdict( lambda: ("",""))
+    for service, events in services.items():
+        for event, time in events.items():
+            time = (time-t0)/1e6
+            d[time] = (service, event)
+    s = sorted(d.items())
+    print(tabulate([[item[1][0], item[1][1], item[0]] for item in s], headers=["service", "event", "time"]))
+    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)
@@ -26,13 +39,13 @@ for frame_id, services in timestamps.items():
     for service, events in services.items():
         start = min(events.values())
         end = max(events.values())
-        service_bars.append(((start-t0)/1e6, (end-start)/1e6))
+        #service_bars.append(((start-t0)/1e6, (end-start)/1e6))
         for event, time in events.items():
             t = (time-t0)/1e6
-            event_bars.append((t, 1))
+            event_bars.append((t, 0.1))
             avg_times[service+"."+event].append(t)
             print("    ", service+"."+event, t)
-    gnt.broken_barh(service_bars, (count, 0.9), facecolors=("blue"))
+    #gnt.broken_barh(service_bars, (count, 0.9), facecolors=("blue"))
     gnt.broken_barh(event_bars, (count, 0.9), facecolors=("black"))
     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"]))

tools/latency_logging/read_cloudlog.py

@@ -6,9 +6,9 @@ import json
 from collections import defaultdict
 
 
-timestamps = defaultdict(lambda: defaultdict(lambda: defaultdict(int)))
+timestamps = defaultdict(lambda: defaultdict(lambda: defaultdict(list)))
 
-r = Route("9f583b1d93915c31|2022-03-21--19-26-32")
+r = Route("9f583b1d93915c31|2022-03-22--15-13-06")
 lr = LogReader(r.log_paths()[0])
 
 for msg in lr:
@@ -21,8 +21,18 @@ for msg in lr:
             service = jmsg['ctx']['daemon']
             event = jmsg['msg']['timestamp']['event']
             time = jmsg['msg']['timestamp']['time']
-            timestamps[frame_id][service][event] = time
+            timestamps[frame_id][service][event].append(time)
         except :
             print( msg)
+
+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)
+    json.dump(timestampsshort, outfile)