diff --git a/selfdrive/common/swaglog.h b/selfdrive/common/swaglog.h index 26d66f95c..be81f8ff9 100644 --- a/selfdrive/common/swaglog.h +++ b/selfdrive/common/swaglog.h @@ -22,7 +22,7 @@ void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func #define cloudlog_t(lvl, event_name, frame_id, ...) \ { \ 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("}}"); \ + 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__); \ } diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc index 1fdf12ef3..a96c0994f 100644 --- a/selfdrive/modeld/modeld.cc +++ b/selfdrive/modeld/modeld.cc @@ -89,11 +89,7 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl LOGE("vipc_client_main no frame"); continue; } - // TODO: path planner timeout? - sm.update(0); - int desire = ((int)sm["lateralPlan"].getLateralPlan().getDesire()); - frame_id = sm["roadCameraState"].getRoadCameraState().getFrameId(); - LOGT("vicp read main", frame_id) + LOGT("vicp read main", meta_main.frame_id) if (use_extra_client) { // Keep receiving extra frames until frame id matches main camera @@ -105,7 +101,7 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl LOGE("vipc_client_extra no frame"); continue; } - LOGT("vicp read extra", frame_id) + LOGT("vicp read extra", meta_main.frame_id) if (std::abs((int64_t)meta_main.timestamp_sof - (int64_t)meta_extra.timestamp_sof) > 10000000ULL) { LOGE("frames out of sync! main: %d (%.5f), extra: %d (%.5f)", @@ -118,6 +114,10 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl meta_extra = meta_main; } + // TODO: path planner timeout? + sm.update(0); + int desire = ((int)sm["lateralPlan"].getLateralPlan().getDesire()); + frame_id = sm["roadCameraState"].getRoadCameraState().getFrameId(); if (sm.updated("liveCalibration")) { auto extrinsic_matrix = sm["liveCalibration"].getLiveCalibration().getExtrinsicMatrix(); Eigen::Matrix extrinsic_matrix_eigen; @@ -135,10 +135,10 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl vec_desire[desire] = 1.0; } - LOGT("Model start", frame_id); + LOGT("Model start", meta_main.frame_id); double mt1 = millis_since_boot(); ModelOutput *model_output = model_eval_frame(&model, buf_main, buf_extra, model_transform_main, model_transform_extra, vec_desire); - LOGT("Model end", frame_id); + LOGT("Model end", meta_main.frame_id); double mt2 = millis_since_boot(); float model_execution_time = (mt2 - mt1) / 1000.0; @@ -157,7 +157,7 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl kj::ArrayPtr(model.output.data(), model.output.size()), live_calib_seen); posenet_publish(pm, meta_main.frame_id, vipc_dropped_frames, *model_output, meta_main.timestamp_eof, live_calib_seen); - LOGT("Model published", frame_id); + LOGT("Model published", meta_main.frame_id); //printf("model process: %.2fms, from last %.2fms, vipc_frame_id %u, frame_id, %u, frame_drop %.3f\n", mt2 - mt1, mt1 - last, extra.frame_id, frame_id, frame_drop_ratio); last = mt1; diff --git a/tools/latency_logging/graph_json.py b/tools/latency_logging/graph_json.py index 4f4ab9a74..d9367c3d8 100644 --- a/tools/latency_logging/graph_json.py +++ b/tools/latency_logging/graph_json.py @@ -11,7 +11,7 @@ timestamps = json.load(json_file) 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, maxx) +gnt.set_xlim(0, 150) maxy = len(timestamps) gnt.set_ylim(0, maxy) @@ -22,13 +22,16 @@ for frame_id, services in timestamps.items(): t0 = min([min(events.values())for events in services.values()]) service_bars = [] event_bars = [] + print(frame_id) for service, events in services.items(): start = min(events.values()) end = max(events.values()) service_bars.append(((start-t0)/1e6, (end-start)/1e6)) for event, time in events.items(): - event_bars.append(((time-t0)/1e6, maxx/300)) - avg_times[service+"."+event].append((time-t0)/1e6) + t = (time-t0)/1e6 + event_bars.append((t, 1)) + avg_times[service+"."+event].append(t) + print(" ", service+"."+event, t) gnt.broken_barh(service_bars, (count, 0.9), facecolors=("blue")) gnt.broken_barh(event_bars, (count, 0.9), facecolors=("black")) count+=1 diff --git a/tools/latency_logging/read_cloudlog.py b/tools/latency_logging/read_cloudlog.py index 90d07d31b..39a6a5842 100644 --- a/tools/latency_logging/read_cloudlog.py +++ b/tools/latency_logging/read_cloudlog.py @@ -3,11 +3,26 @@ from tools.lib.route import Route from tools.lib.logreader import LogReader import json +from collections import defaultdict -r = Route("9f583b1d93915c31|2022-03-21--18-30-38") + +timestamps = defaultdict(lambda: defaultdict(lambda: defaultdict(int))) + +r = Route("9f583b1d93915c31|2022-03-21--19-26-32") lr = LogReader(r.log_paths()[0]) for msg in lr: if msg.which() == "logMessage": - msg_json = json.loads(msg.logMessage) - print(msg_json['msg']) + msg = msg.logMessage.replace("'", '"').replace('"{', "{").replace('}"', "}") + if 'timestamp' in msg: + try: + jmsg = json.loads(msg) + frame_id = jmsg['msg']['timestamp']['frameId'] + service = jmsg['ctx']['daemon'] + event = jmsg['msg']['timestamp']['event'] + time = jmsg['msg']['timestamp']['time'] + timestamps[frame_id][service][event] = time + except : + print( msg) +with open('timestamps.json', 'w') as outfile: + json.dump(timestamps, outfile) diff --git a/tools/latency_logging/timestamps.json b/tools/latency_logging/timestamps.json index 73bd4eb60..6a90f82e0 100644 --- a/tools/latency_logging/timestamps.json +++ b/tools/latency_logging/timestamps.json @@ -1,48 +1 @@ -{ - "1": { - "camerad":{ - "start_driver": 100000000, - "start_road": 110000000, - "end_driver": 10000000000, - "end_road": 12000000000 - }, - "modeld":{ - "event":20000000000, - "another_event":23000000000, - "last_event":22000000000 - }, - "planner":{ - "event":40000000000, - "another_event":41000000000, - "last_event":45000000000 - }, - "controls":{ - "event":80000000000, - "another_event":83000000000, - "last_event":78000000000 - } - }, - "2": { - "camerad":{ - "start_driver": 130000000, - "start_road": 120000000, - "end_driver": 11000000000, - "end_road": 14000000000 - }, - "modeld":{ - "event":28000000000, - "another_event":29000000000, - "last_event":27000000000 - }, - "planner":{ - "event":48000000000, - "another_event":42000000000, - "last_event":49000000000 - }, - "controls":{ - "event":83000000000, - "another_event":89000000000, - "last_event":73000000000 - } - } -} +{"0": {"camerad": {"DriverCamera: Start ": 1814866537976, "RoadCamera: Start ": 1814866169852, "WideRoadCamera: Start ": 1814865819905, "RoadCamera: End ": 1814898446600, "DriverCamera: End ": 1814898167226, "WideRoadCamera: End ": 1814898603319}, "modeld": {"vicp read main ": 1814837730022, "vicp read extra ": 1814840131267, "Model start ": 1814840241996, "Model end ": 1814861310072, "Model published ": 1814862219809}}, "1": {"modeld": {"vicp read main ": 1814884897621, "vicp read extra ": 1814891124482, "Model start ": 1814891240159, "Model end ": 1814910650739, "Model published ": 1814910973238}, "camerad": {"DriverCamera: Start ": 1814916714579, "RoadCamera: Start ": 1814915655415, "WideRoadCamera: Start ": 1814915711560, "RoadCamera: End ": 1814948062579, "DriverCamera: End ": 1814948359766, "WideRoadCamera: End ": 1814948517526}}, "2": {"modeld": {"vicp read main ": 1814934502923, "vicp read extra ": 1814941204522, "Model start ": 1814941358428, "Model end ": 1814961916610, "Model published ": 1814962312702}, "camerad": {"RoadCamera: Start ": 1814966003944, "DriverCamera: Start ": 1814966181339, "WideRoadCamera: Start ": 1814966409464, "WideRoadCamera: End ": 1814998380015, "DriverCamera: End ": 1814998772878, "RoadCamera: Send thumbnail ": 1814998955951, "RoadCamera: Send thumbnail done ": 1815001509382, "RoadCamera: End ": 1815001631570}}, "3": {"modeld": {"vicp read main ": 1814985360305, "vicp read extra ": 1814990906178, "Model start ": 1814991077011, "Model end ": 1815011903056, "Model published ": 1815012475607}, "camerad": {"WideRoadCamera: Start ": 1815016033255, "DriverCamera: Start ": 1815016098671, "RoadCamera: Start ": 1815015901589, "WideRoadCamera: End ": 1815047937868, "RoadCamera: End ": 1815048361149, "DriverCamera: End ": 1815048798856}}, "4": {"modeld": {"vicp read main ": 1815035092846, "vicp read extra ": 1815039316638, "Model start ": 1815039509711, "Model end ": 1815059334196, "Model published ": 1815059875601}, "camerad": {"WideRoadCamera: Start ": 1815066403086, "RoadCamera: Start ": 1815066689388, "DriverCamera: Start ": 1815066008347, "RoadCamera: End ": 1815097570410, "DriverCamera: End ": 1815098554626, "WideRoadCamera: End ": 1815098748115}}, "5": {"modeld": {"vicp read main ": 1815084467003, "vicp read extra ": 1815087000851, "Model start ": 1815087078663, "Model end ": 1815107183825, "Model published ": 1815107553980}, "camerad": {"RoadCamera: Start ": 1815115910940, "DriverCamera: Start ": 1815115804690, "WideRoadCamera: Start ": 1815115870211, "WideRoadCamera: End ": 1815147815033, "DriverCamera: End ": 1815148447011, "RoadCamera: End ": 1815148780760}}, "6": {"modeld": {"vicp read main ": 1815134325637, "vicp read extra ": 1815138450107, "Model start ": 1815138555627, "Model end ": 1815158067092, "Model published ": 1815158529487}, "camerad": {"WideRoadCamera: Start ": 1815166183584, "DriverCamera: Start ": 1815166615823, "RoadCamera: Start ": 1815165850616, "WideRoadCamera: End ": 1815197712626, "DriverCamera: End ": 1815198351999, "RoadCamera: End ": 1815198687519}}, "7": {"modeld": {"vicp read main ": 1815184373854, "vicp read extra ": 1815188389835, "Model start ": 1815188509105, "Model end ": 1815208040362, "Model published ": 1815208457132}, "camerad": {"WideRoadCamera: Start ": 1815215999719, "DriverCamera: Start ": 1815216644613, "RoadCamera: Start ": 1815215714303, "WideRoadCamera: End ": 1815248177144, "RoadCamera: End ": 1815248455372, "DriverCamera: End ": 1815248686778}}, "8": {"modeld": {"vicp read main ": 1815234160510, "vicp read extra ": 1815236501754, "Model start ": 1815236589306, "Model end ": 1815256088896, "Model published ": 1815256572125}, "camerad": {"WideRoadCamera: Start ": 1815265757624, "RoadCamera: Start ": 1815265860645, "DriverCamera: Start ": 1815265971999, "WideRoadCamera: End ": 1815297847914, "DriverCamera: End ": 1815298533746, "RoadCamera: End ": 1815298880829}}, "9": {"modeld": {"vicp read main ": 1815284426539, "vicp read extra ": 1815288503665, "Model start ": 1815288609498, "Model end ": 1815308134401, "Model published ": 1815308544556}, "camerad": {"WideRoadCamera: Start ": 1815316004226, "DriverCamera: Start ": 1815315670165, "RoadCamera: Start ": 1815315779019, "DriverCamera: End ": 1815347769257, "RoadCamera: End ": 1815348377120, "WideRoadCamera: End ": 1815348767380}}, "10": {"modeld": {"vicp read main ": 1815334096476, "vicp read extra ": 1815338195112, "Model start ": 1815338294018, "Model end ": 1815357828296, "Model published ": 1815358308139}, "camerad": {"DriverCamera: Start ": 1815366088277, "RoadCamera: Start ": 1815365553851, "WideRoadCamera: Start ": 1815366018850, "WideRoadCamera: End ": 1815397709454, "DriverCamera: End ": 1815398424817, "RoadCamera: End ": 1815398746014}}, "11": {"modeld": {"vicp read main ": 1815384387505, "vicp read extra ": 1815388328642, "Model start ": 1815388438433, "Model end ": 1815408209273, "Model published ": 1815408573856}, "camerad": {"WideRoadCamera: Start ": 1815416147171, "DriverCamera: Start ": 1815415768266, "RoadCamera: Start ": 1815415881651, "WideRoadCamera: End ": 1815448079806, "RoadCamera: End ": 1815448376732, "DriverCamera: End ": 1815448569179}}, "12": {"modeld": {"vicp read main ": 1815435927803, "vicp read extra ": 1815438625296, "Model start ": 1815438738161, "Model end ": 1815458649000, "Model published ": 1815459079311}, "camerad": {"WideRoadCamera: Start ": 1815466631481, "RoadCamera: Start ": 1815466697471, "DriverCamera: Start ": 1815465796015, "DriverCamera: End ": 1815497994430, "WideRoadCamera: End ": 1815498596147, "RoadCamera: End ": 1815498959740}}, "13": {"modeld": {"vicp read main ": 1815484475346, "vicp read extra ": 1815486982945, "Model start ": 1815487079663, "Model end ": 1815506572170, "Model published ": 1815506962013}, "camerad": {"DriverCamera: Start ": 1815516163242, "WideRoadCamera: Start ": 1815515837461, "RoadCamera: Start ": 1815515910221, "RoadCamera: End ": 1815547730773, "WideRoadCamera: End ": 1815548375459, "DriverCamera: End ": 1815548800770}}, "14": {"modeld": {"vicp read main ": 1815534589866, "vicp read extra ": 1815538823137, "Model start ": 1815538905324, "Model end ": 1815558333248, "Model published ": 1815558752518}, "camerad": {"RoadCamera: Start ": 1815566152761, "WideRoadCamera: Start ": 1815565782814, "DriverCamera: Start ": 1815566099845, "RoadCamera: End ": 1815597577428, "WideRoadCamera: End ": 1815598261801, "DriverCamera: End ": 1815598673363}}, "15": {"modeld": {"vicp read main ": 1815584584073, "vicp read extra ": 1815588629844, "Model start ": 1815588778646, "Model end ": 1815608199122, "Model published ": 1815608582142}, "camerad": {"RoadCamera: Start ": 1815615731084, "WideRoadCamera: Start ": 1815616537540, "DriverCamera: Start ": 1815615648740, "RoadCamera: End ": 1815647571687, "DriverCamera: End ": 1815648317935, "WideRoadCamera: End ": 1815648641216}}, "16": {"modeld": {"vicp read main ": 1815634520519, "vicp read extra ": 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