From e66b2bf70a1bd1e1331a8682f5badebe6b52aca5 Mon Sep 17 00:00:00 2001 From: Lukas Petersson Date: Wed, 23 Mar 2022 09:12:18 -0700 Subject: [PATCH] more logging --- selfdrive/camerad/cameras/camera_common.cc | 5 +++++ selfdrive/camerad/cameras/camera_qcom2.cc | 4 ++++ selfdrive/controls/controlsd.py | 2 +- tools/latency_logging/graph_json.py | 2 +- tools/latency_logging/read_cloudlog.py | 16 +++++++++++++--- tools/latency_logging/timestamps.json | 2 +- 6 files changed, 25 insertions(+), 6 deletions(-) diff --git a/selfdrive/camerad/cameras/camera_common.cc b/selfdrive/camerad/cameras/camera_common.cc index bd7e0caf6..cd01f1e40 100644 --- a/selfdrive/camerad/cameras/camera_common.cc +++ b/selfdrive/camerad/cameras/camera_common.cc @@ -376,11 +376,13 @@ void *processing_thread(MultiCameraState *cameras, CameraState *cs, process_thre while (!do_exit) { if (!cs->buf.acquire()) continue; + //TODO: is this frame id fake, maybe it is created in the callback uint32_t frame_id = cs->buf.cur_frame_data.frame_id; LOGT((std::string(thread_name)+std::string(": Start")).c_str(), frame_id); callback(cameras, cs, cnt); + LOGT((std::string(thread_name)+std::string(": END")).c_str(), frame_id); if (cs == &(cameras->road_cam) && cameras->pm && cnt % 100 == 3) { // this takes 10ms??? @@ -447,7 +449,10 @@ void common_process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) if (env_send_driver) { framed.setImage(get_frame_image(&c->buf)); } + uint32_t frame_id = c->buf.cur_frame_data.frame_id; + LOGT("DriverCamera: Image set", frame_id); s->pm->send("driverCameraState", msg); + LOGT("DriverCamera: Published", frame_id); } diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/selfdrive/camerad/cameras/camera_qcom2.cc index 2e810e420..0e50da0ba 100644 --- a/selfdrive/camerad/cameras/camera_qcom2.cc +++ b/selfdrive/camerad/cameras/camera_qcom2.cc @@ -1032,10 +1032,14 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) { if ((c == &s->road_cam && env_send_road) || (c == &s->wide_road_cam && env_send_wide_road)) { framed.setImage(get_frame_image(b)); } + uint32_t frame_id = c->buf.cur_frame_data.frame_id; + LOGT((std::string(c == &s->road_cam ? "RoadCamera" : "WideRoadCamera")+std::string(": Image set")).c_str(), frame_id); if (c == &s->road_cam) { framed.setTransform(b->yuv_transform.v); + LOGT((std::string(c == &s->road_cam ? "RoadCamera" : "WideRoadCamera")+std::string(": Transformed")).c_str(), frame_id); } s->pm->send(c == &s->road_cam ? "roadCameraState" : "wideRoadCameraState", msg); + LOGT((std::string(c == &s->road_cam ? "RoadCamera" : "WideRoadCamera")+std::string(": Published")).c_str(), frame_id); const auto [x, y, w, h] = (c == &s->wide_road_cam) ? std::tuple(96, 250, 1734, 524) : std::tuple(96, 160, 1734, 986); const int skip = 2; diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index c165acee2..f83735990 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -633,7 +633,7 @@ class Controls: self.last_actuators, can_sends = self.CI.apply(CC) 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.event("translation", logMonoTime=sendcan_msg.logMonoTime, frameId=frame_id, debug=True) cloudlog.timestamp("sendcan Published", frame_id) CC.actuatorsOutput = self.last_actuators diff --git a/tools/latency_logging/graph_json.py b/tools/latency_logging/graph_json.py index 220a8d4e4..926fe9f67 100644 --- a/tools/latency_logging/graph_json.py +++ b/tools/latency_logging/graph_json.py @@ -18,7 +18,7 @@ for frame_id, services in timestamps.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(tabulate([[item[1][0], item[1][1], item[0]] for item in s], headers=["service", "event", "time (ms)"])) print() exit() diff --git a/tools/latency_logging/read_cloudlog.py b/tools/latency_logging/read_cloudlog.py index 4f8666ea8..adaefbe4a 100644 --- a/tools/latency_logging/read_cloudlog.py +++ b/tools/latency_logging/read_cloudlog.py @@ -8,9 +8,16 @@ from collections import defaultdict timestamps = defaultdict(lambda: defaultdict(lambda: defaultdict(list))) -r = Route("9f583b1d93915c31|2022-03-22--15-59-29") +#r = Route("9f583b1d93915c31|2022-03-22--15-59-29") +r = Route("9f583b1d93915c31|2022-03-22--18-06-12") lr = LogReader(r.log_paths()[0]) +for msg in lr: + if msg.which() == "logMessage": + msg = msg.logMessage.replace("'", '"').replace('"{', "{").replace('}"', "}") + if "logMonoTime" in msg: + print(msg) +exit() for msg in lr: if msg.which() == "logMessage": msg = msg.logMessage.replace("'", '"').replace('"{', "{").replace('}"', "}") @@ -21,9 +28,12 @@ for msg in lr: service = jmsg['ctx']['daemon'] event = jmsg['msg']['timestamp']['event'] time = jmsg['msg']['timestamp']['time'] - timestamps[frame_id][service][event].append(time) + if jmsg['msg']['timestamp']['translate']: + timestamps[frame_id][service][event].append() + else: + timestamps[frame_id][service][event].append(time) except : - print( msg) + print(msg) del timestamps[0] diff --git a/tools/latency_logging/timestamps.json b/tools/latency_logging/timestamps.json index 79720856a..7e64e51ba 100644 --- a/tools/latency_logging/timestamps.json +++ b/tools/latency_logging/timestamps.json @@ -1 +1 @@ -{"1": {"camerad": {"WideRoadCamera: Start": 75792408553060, "DriverCamera: Start": 75792410457830, "RoadCamera: Start": 75792412318589, "WideRoadCamera: Released": 75792421762438, "RoadCamera: Released": 75792421993268, "DriverCamera: Released": 75792422159568}, "modeld": {"vicp read main": 75792412656190, "vicp read extra": 75792412973894, "Model start": 75792413072435, "Model end": 75792433238137, "Model published": 75792433539279}}, "2": {"camerad": {"WideRoadCamera: Start": 75792458263835, "DriverCamera: Start": 75792460164281, "RoadCamera: Start": 75792461842335, "RoadCamera: Released": 75792471571961, "DriverCamera: Released": 75792471805343, "WideRoadCamera: Released": 75792471901905}, "modeld": {"vicp read main": 75792462124675, "vicp read extra": 75792462460192, "Model start": 75792462505712, "Model end": 75792482639592, "Model published": 75792482932193}}, "3": {"camerad": {"RoadCamera: Start": 75792507846694, "DriverCamera: Start": 75792510666140, "WideRoadCamera: Start": 75792512498358, "DriverCamera: Released": 75792521600804, "RoadCamera: Send thumbnail": 75792521798510, "RoadCamera: Send thumbnail done": 75792524204055, "RoadCamera: Released": 75792524290669, "WideRoadCamera: Released": 75792525187429}, "modeld": {"vicp read main": 75792508184034, "vicp read extra": 75792512780126, "Model start": 75792512857104, "Model end": 75792533218794, "Model published": 75792533507488}}, "4": {"camerad": {"WideRoadCamera: Start": 75792557323617, "DriverCamera: Start": 75792559611194, "RoadCamera: Start": 75792561394507, "DriverCamera: Released": 75792571690480, "RoadCamera: Released": 75792571876051, "WideRoadCamera: Released": 75792572218391}, "modeld": {"vicp read main": 75792561658358, "vicp read extra": 75792561965177, "Model start": 75792562007937, "Model end": 75792582487594, "Model published": 75792582894829}}, "5": {"camerad": {"WideRoadCamera: Start": 75792607346106, "DriverCamera: Start": 75792609130825, "RoadCamera: Start": 75792610887992, "RoadCamera: Released": 75792621655054, "DriverCamera: Released": 75792621876666, "WideRoadCamera: Released": 75792621996612}, "modeld": {"vicp read main": 75792611147156, "vicp read extra": 75792611503506, "Model start": 75792611547255, "Model end": 75792632200556, "Model published": 75792632652634}}, "6": {"camerad": {"RoadCamera: Start": 75792657346044, "WideRoadCamera: Start": 75792660257312, "DriverCamera: Start": 75792662105780, "DriverCamera: Released": 75792671765407, "RoadCamera: Released": 75792671947853, "WideRoadCamera: Released": 75792672188683}, "modeld": {"vicp read main": 75792657703488, "vicp read extra": 75792660522673, "Model start": 75792660632933, "Model end": 75792680989206, "Model published": 75792681343420}}, "7": {"camerad": {"WideRoadCamera: Start": 75792707564000, "RoadCamera: Start": 75792709849338, "DriverCamera: Start": 75792712727117, "WideRoadCamera: Released": 75792721339829, "DriverCamera: Released": 75792721607013, "RoadCamera: Released": 75792721713210}, "modeld": {"vicp read main": 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