more logging
parent
1b50e24f65
commit
e66b2bf70a
|
@ -376,11 +376,13 @@ void *processing_thread(MultiCameraState *cameras, CameraState *cs, process_thre
|
||||||
while (!do_exit) {
|
while (!do_exit) {
|
||||||
if (!cs->buf.acquire()) continue;
|
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;
|
uint32_t frame_id = cs->buf.cur_frame_data.frame_id;
|
||||||
LOGT((std::string(thread_name)+std::string(": Start")).c_str(), frame_id);
|
LOGT((std::string(thread_name)+std::string(": Start")).c_str(), frame_id);
|
||||||
|
|
||||||
callback(cameras, cs, cnt);
|
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) {
|
if (cs == &(cameras->road_cam) && cameras->pm && cnt % 100 == 3) {
|
||||||
// this takes 10ms???
|
// this takes 10ms???
|
||||||
|
@ -447,7 +449,10 @@ void common_process_driver_camera(MultiCameraState *s, CameraState *c, int cnt)
|
||||||
if (env_send_driver) {
|
if (env_send_driver) {
|
||||||
framed.setImage(get_frame_image(&c->buf));
|
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);
|
s->pm->send("driverCameraState", msg);
|
||||||
|
LOGT("DriverCamera: Published", frame_id);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
|
@ -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)) {
|
if ((c == &s->road_cam && env_send_road) || (c == &s->wide_road_cam && env_send_wide_road)) {
|
||||||
framed.setImage(get_frame_image(b));
|
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) {
|
if (c == &s->road_cam) {
|
||||||
framed.setTransform(b->yuv_transform.v);
|
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);
|
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 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;
|
const int skip = 2;
|
||||||
|
|
|
@ -633,7 +633,7 @@ class Controls:
|
||||||
self.last_actuators, can_sends = self.CI.apply(CC)
|
self.last_actuators, can_sends = self.CI.apply(CC)
|
||||||
sendcan_msg = can_list_to_can_capnp(can_sends, msgtype='sendcan')
|
sendcan_msg = can_list_to_can_capnp(can_sends, msgtype='sendcan')
|
||||||
self.pm.send('sendcan', sendcan_msg , valid=CS.canValid)
|
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)
|
cloudlog.timestamp("sendcan Published", frame_id)
|
||||||
CC.actuatorsOutput = self.last_actuators
|
CC.actuatorsOutput = self.last_actuators
|
||||||
|
|
||||||
|
|
|
@ -18,7 +18,7 @@ for frame_id, services in timestamps.items():
|
||||||
time = (time-t0)/1e6
|
time = (time-t0)/1e6
|
||||||
d[time] = (service, event)
|
d[time] = (service, event)
|
||||||
s = sorted(d.items())
|
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()
|
print()
|
||||||
|
|
||||||
exit()
|
exit()
|
||||||
|
|
|
@ -8,9 +8,16 @@ from collections import defaultdict
|
||||||
|
|
||||||
timestamps = defaultdict(lambda: defaultdict(lambda: defaultdict(list)))
|
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])
|
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:
|
for msg in lr:
|
||||||
if msg.which() == "logMessage":
|
if msg.which() == "logMessage":
|
||||||
msg = msg.logMessage.replace("'", '"').replace('"{', "{").replace('}"', "}")
|
msg = msg.logMessage.replace("'", '"').replace('"{', "{").replace('}"', "}")
|
||||||
|
@ -21,9 +28,12 @@ for msg in lr:
|
||||||
service = jmsg['ctx']['daemon']
|
service = jmsg['ctx']['daemon']
|
||||||
event = jmsg['msg']['timestamp']['event']
|
event = jmsg['msg']['timestamp']['event']
|
||||||
time = jmsg['msg']['timestamp']['time']
|
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 :
|
except :
|
||||||
print( msg)
|
print(msg)
|
||||||
|
|
||||||
del timestamps[0]
|
del timestamps[0]
|
||||||
|
|
||||||
|
|
File diff suppressed because one or more lines are too long
Loading…
Reference in New Issue