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88 lines
4.5 KiB
88 lines
4.5 KiB
3 years ago
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# LatencyLogger
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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.
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## Usage
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```
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$ python latency_logger.py -h
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usage: latency_logger.py [-h] [--relative] [--demo] [--plot] [route_or_segment_name]
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A tool for analyzing openpilot's end-to-end latency
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positional arguments:
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route_or_segment_name
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The route to print (default: None)
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optional arguments:
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-h, --help show this help message and exit
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--relative Make timestamps relative to the start of each frame (default: False)
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--demo Use the demo route instead of providing one (default: False)
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--plot If a plot should be generated (default: False)
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```
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## Examples
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Plotting with relative starts each process at time=0 and gives a nice overview.
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Plotting without relative provides info about the frames relative time.
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Printed timestamps of a frame with internal durations.
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```
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Frame ID: 303
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camerad
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roadCameraState start of frame 0.0
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wideRoadCameraState start of frame 0.091926
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RoadCamera: Image set 1.691696
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RoadCamera: Transformed 1.812841
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roadCameraState published 51.775466
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wideRoadCameraState published 54.935164
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roadCameraState.processingTime 1.6455530421808362
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wideRoadCameraState.processingTime 4.790564067661762
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modeld
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Image added 56.628788
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Extra image added 57.459923
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Execution finished 75.091306
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modelV2 published 75.24797
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modelV2.modelExecutionTime 20.00947669148445
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modelV2.gpuExecutionTime 0.0
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plannerd
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lateralPlan published 80.426861
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longitudinalPlan published 85.722781
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lateralPlan.solverExecutionTime 1.0600379901006818
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longitudinalPlan.solverExecutionTime 1.3830000534653664
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controlsd
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Data sampled 89.436221
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Events updated 90.356522
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sendcan published 91.396092
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controlsState published 91.77843
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Data sampled 99.885876
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Events updated 100.696855
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sendcan published 101.600489
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controlsState published 101.941839
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Data sampled 110.087669
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Events updated 111.025365
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sendcan published 112.305921
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controlsState published 112.70451
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Data sampled 119.692803
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Events updated 120.56774
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sendcan published 121.735016
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controlsState published 122.142823
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Data sampled 129.264761
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Events updated 130.024282
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sendcan published 130.950364
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controlsState published 131.281558
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boardd
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sending sendcan to panda: 250027001751393037323631 101.705487
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sendcan sent to panda: 250027001751393037323631 102.042462
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sending sendcan to panda: 250027001751393037323631 112.416961
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sendcan sent to panda: 250027001751393037323631 112.792269
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sending sendcan to panda: 250027001751393037323631 121.850952
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sendcan sent to panda: 250027001751393037323631 122.231103
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sending sendcan to panda: 250027001751393037323631 131.045206
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sendcan sent to panda: 250027001751393037323631 131.351296
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sending sendcan to panda: 250027001751393037323631 141.340592
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sendcan sent to panda: 250027001751393037323631 141.700744
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```
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