# LatencyLogger
LatencyLogger is a tool to track the time from first pixel to actuation. Timestamps are printed in a table as well as plotted in a graph. Start openpilot with `LOG_TIMESTAMPS=1` set to enable the necessary logging.
## Usage
```
$ python latency_logger.py -h
usage: latency_logger.py [-h] [--relative] [--demo] [--plot] [route_or_segment_name]
A tool for analyzing openpilot's end-to-end latency
positional arguments:
route_or_segment_name
The route to print (default: None)
optional arguments:
-h, --help show this help message and exit
--relative Make timestamps relative to the start of each frame (default: False)
--demo Use the demo route instead of providing one (default: False)
--plot If a plot should be generated (default: False)
--offset Offset service to better visualize overlap (default: False)
```
To timestamp an event, use `LOGT("msg")` in c++ code or `cloudlog.timestamp("msg")` in python code. If the print is warning for frameId assignment ambiguity, use `LOGT(frameId ,"msg")` .
## Examples
Timestamps are visualized as diamonds
| | Relative | Absolute |
| ------------- | ------------- | ------------- |
| Inline |  |  |
| Offset |  |  |
Printed timestamps of a frame with internal durations.
```
Frame ID: 1202
camerad
wideRoadCameraState start of frame 0.0
roadCameraState start of frame 0.049583
wideRoadCameraState published 35.01206
WideRoadCamera: Image set 35.020028
roadCameraState published 38.508261
RoadCamera: Image set 38.520344
RoadCamera: Transformed 38.616176
wideRoadCameraState.processingTime 3.152403049170971
roadCameraState.processingTime 6.453451234847307
modeld
Image added 40.909841
Extra image added 42.515027
Execution finished 63.002552
modelV2 published 63.148747
modelV2.modelExecutionTime 23.62649142742157
modelV2.gpuExecutionTime 0.0
plannerd
lateralPlan published 66.915049
longitudinalPlan published 69.715999
lateralPlan.solverExecutionTime 0.8170719956979156
longitudinalPlan.solverExecutionTime 0.5619999719783664
controlsd
Data sampled 70.217763
Events updated 71.037178
sendcan published 72.278775
controlsState published 72.825226
Data sampled 80.008354
Events updated 80.787666
sendcan published 81.849682
controlsState published 82.238323
Data sampled 90.521123
Events updated 91.626003
sendcan published 93.413218
controlsState published 94.143989
Data sampled 100.991497
Events updated 101.973774
sendcan published 103.565575
controlsState published 104.146088
Data sampled 110.284387
Events updated 111.183541
sendcan published 112.981692
controlsState published 113.731994
boardd
sending sendcan to panda: 250027001751393037323631 81.928119
sendcan sent to panda: 250027001751393037323631 82.164834
sending sendcan to panda: 250027001751393037323631 93.569986
sendcan sent to panda: 250027001751393037323631 93.92795
sending sendcan to panda: 250027001751393037323631 103.689167
sendcan sent to panda: 250027001751393037323631 104.012235
sending sendcan to panda: 250027001751393037323631 113.109555
sendcan sent to panda: 250027001751393037323631 113.525487
sending sendcan to panda: 250027001751393037323631 122.508434
sendcan sent to panda: 250027001751393037323631 122.834314
```
