bug fixes

common/logging_extra.py

@@ -165,12 +165,12 @@ class SwagLogger(logging.Logger):
     else:
       self.info(evt)
 
-  def timestamp(self, event_name, frame_id, translate=False,*args, **kwargs):
+  def timestamp(self, event_name, frame_id, translate=False, time=0,*args, **kwargs):
     tstp = NiceOrderedDict()
     tstp['timestamp'] = NiceOrderedDict()
     tstp['timestamp']["event"] = event_name
     tstp['timestamp']["frameId"] = frame_id
-    tstp['timestamp']["time"] = sec_since_boot()*1e9
+    tstp['timestamp']["time"] = time if time else sec_since_boot()*1e9
     tstp['timestamp']["translate"] = translate
     if args:
       tstp['timestamp']['args'] = args

selfdrive/controls/plannerd.py

@@ -36,13 +36,11 @@ def plannerd_thread(sm=None, pm=None):
     sm.update()
 
     if sm.updated['modelV2']:
-      frame_id = sm['modelV2'].frameId
-      cloudlog.timestamp("ModelV2 recived", frame_id)
       lateral_planner.update(sm)
-      cloudlog.timestamp("lateral planner updated", frame_id)
+      cloudlog.timestamp("lateral planner updated", sm['modelV2'].frameId)
       lateral_planner.publish(sm, pm)
       longitudinal_planner.update(sm)
-      cloudlog.timestamp("longitudinal planner updated",frame_id)
+      cloudlog.timestamp("longitudinal planner updated",sm['modelV2'].frameId)
       longitudinal_planner.publish(sm, pm)
 
 

selfdrive/manager/manager.py

@@ -178,8 +178,8 @@ def logTimestamps(sm, events):
       pubTime = sm.logMonoTime[event]
       recTime = sm.rcv_time[event] * 1e9
       if event != "sendcan":
-        cloudlog.timestamp(event+": Published", sm[event].frameId, False time=pubTime)
-        cloudlog.timestamp(event+": Received", sm[event].frameId, False time=recTime)
+        cloudlog.timestamp(event+": Published", sm[event].frameId, False, time=pubTime)
+        cloudlog.timestamp(event+": Received", sm[event].frameId, False, time=recTime)
       else:
         cloudlog.timestamp(event+": Published", sm.logMonoTime[event], True, time=pubTime)
         cloudlog.timestamp(event+": Published", sm.logMonoTime[event], True, time=recTime)

tools/latency_logging/read_cloudlog.py

@@ -14,7 +14,7 @@ translationdict = {}
 #r = Route("9f583b1d93915c31|2022-03-23--14-47-10") clean commit
 #r = Route("9f583b1d93915c31|2022-03-24--19-31-10") current (no pub tlogs) update()
 #r = Route("9f583b1d93915c31|2022-03-24--20-10-09") # current update(0)
-r = Route("9f583b1d93915c31|2022-03-25--11-59-11") # rec and pub
+r = Route("9f583b1d93915c31|2022-03-25--13-09-51") # rec and pub
 lr = LogReader(r.log_paths()[0])
 
 for msg in lr: