Latency logging 2 (#24058)
* msg_order and gantt * frameId in long/lat planner * track frame id * controls frame id * graph tracked events * graph json * cloudlog timestamp * c++ cloudlog * add frame id * bug fixes * bug fixes * frame id visionicp * bug fixes and debug level * timestamp log placement * print timestamps in table * translate events * more logging * bug fixes * daemon boardd * print logs with boardd * more timestamp logs * cleanup * remove publish logs * bug fix * timestamp received * timestamp received * bug fixes * use json lib * ignore driver camera * prep for new timestamp pipeline * bug fix * read new pipeline unfinnished * read new pipeline * bug fix * add frame to controlsstate * remove controlsstate * print * cleanup * more cleanup + bug fix * clock build issue * remove unused imports * format durations * increase speed * pr comments fixes * conflicts * set MANAGER_DAEMON for boardd * clean script code * bug fix + argparse * remove rcv time * bug fixes * print without tabulate * fix pre-commits * plot gnatt * color bug fix * read without timestampextra * bump panda * mono time instead of frame id * finnish script * clean unused * clean unused logging * monotonic + json fixes * del test * remove whilelines * bump laika * cleanup * remove deps * logs nicer strings * remove plotting from scirpt * reset pipfile * reset pipfile * nicer strings * bug fix * bug fix * pr comments cleaning * remove plotting * bug fix * new demo route * bump opendbc and panda * cereal master * cereal master * script less komplex * assertions * matplotlib * readme * Update README.md * graph html * design fixes * more code design * Update common/logging_extra.py Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * whitespace Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * Update tools/latency_logger/latency_logger.py Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * pr comments * bug fix * readme + env once * clean swaglog * bug fix * Update tools/latencylogger/README.md Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * revert * revert * clean swaglog with error * remove typo file * revert graph * cereal * submodules * whitespaces * update refs Co-authored-by: Bruce Wayne <batman@workstation-openpilot2.internal> Co-authored-by: Comma Device <device@comma.ai> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>pull/24144/head
Lukas Petersson
3 years ago
committed by
GitHub
parent
e7f23ceca2
commit
65fca83abe
12 changed files with 347 additions and 16 deletions
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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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 |
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Plotting without relative provides info about the frames relative time. |
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 |
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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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import argparse |
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import json |
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import mpld3 |
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import sys |
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from collections import defaultdict |
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import matplotlib.pyplot as plt |
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from tools.lib.logreader import logreader_from_route_or_segment |
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DEMO_ROUTE = "9f583b1d93915c31|2022-04-01--17-51-29" |
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SERVICES = ['camerad', 'modeld', 'plannerd', 'controlsd', 'boardd'] |
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# Retrive controlsd frameId from lateralPlan, mismatch with longitudinalPlan will be ignored |
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MONOTIME_KEYS = ['modelMonoTime', 'lateralPlanMonoTime'] |
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MSGQ_TO_SERVICE = { |
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'roadCameraState': 'camerad', |
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'wideRoadCameraState': 'camerad', |
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'modelV2': 'modeld', |
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'lateralPlan': 'plannerd', |
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'longitudinalPlan': 'plannerd', |
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'sendcan': 'controlsd', |
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'controlsState': 'controlsd' |
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} |
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SERVICE_TO_DURATIONS = { |
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'camerad': ['processingTime'], |
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'modeld': ['modelExecutionTime', 'gpuExecutionTime'], |
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'plannerd': ["solverExecutionTime"], |
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} |
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def read_logs(lr): |
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data = defaultdict(lambda: defaultdict(lambda: defaultdict(list))) |
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mono_to_frame = {} |
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frame_mismatches = [] |
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latest_sendcan_monotime = 0 |
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for msg in lr: |
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if msg.which() == 'sendcan': |
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latest_sendcan_monotime = msg.logMonoTime |
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continue |
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if msg.which() in MSGQ_TO_SERVICE: |
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service = MSGQ_TO_SERVICE[msg.which()] |
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msg_obj = getattr(msg, msg.which()) |
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frame_id = -1 |
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if hasattr(msg_obj, "frameId"): |
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frame_id = msg_obj.frameId |
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else: |
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continue_outer = False |
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for key in MONOTIME_KEYS: |
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if hasattr(msg_obj, key): |
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if getattr(msg_obj, key) == 0: |
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# Filter out controlsd messages which arrive before the camera loop |
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continue_outer = True |
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elif getattr(msg_obj, key) in mono_to_frame: |
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frame_id = mono_to_frame[getattr(msg_obj, key)] |
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if continue_outer: |
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continue |
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mono_to_frame[msg.logMonoTime] = frame_id |
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data['timestamp'][frame_id][service].append((msg.which()+" published", msg.logMonoTime)) |
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if service in SERVICE_TO_DURATIONS: |
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for duration in SERVICE_TO_DURATIONS[service]: |
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data['duration'][frame_id][service].append((msg.which()+"."+duration, getattr(msg_obj, duration))) |
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if service == SERVICES[0]: |
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data['timestamp'][frame_id][service].append((msg.which()+" start of frame", msg_obj.timestampSof)) |
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elif msg.which() == 'controlsState': |
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# Sendcan is published before controlsState, but the frameId is retrived in CS |
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data['timestamp'][frame_id][service].append(("sendcan published", latest_sendcan_monotime)) |
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elif msg.which() == 'modelV2': |
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if msg_obj.frameIdExtra != frame_id: |
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frame_mismatches.append(frame_id) |
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# Failed frameId fetches are stored in -1 |
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assert sum([len(data['timestamp'][-1][service]) for service in data['timestamp'][-1].keys()]) < 20, "Too many frameId fetch fails" |
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del data['timestamp'][-1] |
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assert len(frame_mismatches) < 20, "Too many frame mismatches" |
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return (data, frame_mismatches) |
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def get_min_time(frame_id, service, timestamps, use_max=False): |
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return min(timestamps[frame_id][service], key=lambda x: x[1])[1] if not use_max else max(timestamps[frame_id][service], key=lambda x: x[1])[1] |
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def get_interval(frame_id, service, timestamps): |
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try: |
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service_max = get_min_time(frame_id, service, timestamps, use_max=True) |
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if service == SERVICES[0]: |
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service_min = get_min_time(frame_id, service, timestamps) |
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return (service_min, service_max) |
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prev_service = SERVICES[SERVICES.index(service)-1] |
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prev_service_max = get_min_time(frame_id, prev_service, timestamps, use_max=True) |
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return (prev_service_max, service_max) |
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except ValueError: |
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return (-1,-1) |
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def find_frame_id(time, service, timestamps): |
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for frame_id in reversed(timestamps): |
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start, end = get_interval(frame_id, service, timestamps) |
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if start <= time <= end: |
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return frame_id |
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return -1 |
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## ASSUMES THAT AT LEAST ONE CLOUDLOG IS MADE IN CONTROLSD |
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def insert_cloudlogs(lr, timestamps): |
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t0 = get_min_time(min(timestamps.keys()), SERVICES[0], timestamps) |
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failed_inserts = 0 |
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latest_controls_frameid = 0 |
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for msg in lr: |
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if msg.which() == "logMessage": |
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jmsg = json.loads(msg.logMessage) |
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if "timestamp" in jmsg['msg']: |
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time = int(jmsg['msg']['timestamp']['time']) |
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service = jmsg['ctx']['daemon'] |
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event = jmsg['msg']['timestamp']['event'] |
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if time < t0: |
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# Filter out controlsd messages which arrive before the camera loop |
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continue |
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frame_id = latest_controls_frameid if service == "boardd" else find_frame_id(time, service, timestamps) |
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if frame_id > -1: |
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timestamps[frame_id][service].append((event, time)) |
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if service == 'controlsd': |
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latest_controls_frameid = frame_id |
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else: |
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failed_inserts += 1 |
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assert failed_inserts < len(timestamps), "Too many failed cloudlog inserts" |
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def print_timestamps(timestamps, durations ,relative): |
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t0 = get_min_time(min(timestamps.keys()), SERVICES[0], timestamps) |
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for frame_id in timestamps.keys(): |
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print('='*80) |
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print("Frame ID:", frame_id) |
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if relative: |
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t0 = get_min_time(frame_id, SERVICES[0], timestamps) |
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for service in SERVICES: |
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print(" "+service) |
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events = timestamps[frame_id][service] |
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for event, time in sorted(events, key = lambda x: x[1]): |
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print(" "+'%-53s%-53s' %(event, str((time-t0)/1e6))) |
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for event, time in durations[frame_id][service]: |
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print(" "+'%-53s%-53s' %(event, str(time*1000))) |
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def graph_timestamps(timestamps, relative): |
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t0 = get_min_time(min(timestamps.keys()), SERVICES[0], timestamps) |
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fig, ax = plt.subplots() |
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ax.set_xlim(0, 150 if relative else 750) |
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ax.set_ylim(0, 15) |
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points = {"x": [], "y": [], "labels": []} |
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for frame_id, services in timestamps.items(): |
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if relative: |
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t0 = get_min_time(frame_id, SERVICES[0], timestamps) |
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service_bars = [] |
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for service, events in services.items(): |
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start, end = get_interval(frame_id, service,timestamps) |
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service_bars.append(((start-t0)/1e6,(end-start)/1e6)) |
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for event in events: |
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points["x"].append((event[1]-t0)/1e6) |
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points["y"].append(frame_id+0.45) |
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points["labels"].append(event[0]) |
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ax.broken_barh(service_bars, (frame_id, 0.9), facecolors=(["blue", 'green', 'red', 'yellow', 'purple'])) |
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scatter = ax.scatter(points['x'], points['y'], marker="d", edgecolor='black') |
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tooltip = mpld3.plugins.PointLabelTooltip(scatter, labels=points["labels"]) |
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ax.legend() |
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mpld3.plugins.connect(fig, tooltip) |
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#mpld3.save_html(fig, 'test.html') |
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mpld3.show() |
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if __name__ == "__main__": |
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parser = argparse.ArgumentParser(description="A tool for analyzing openpilot's end-to-end latency", |
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formatter_class = argparse.ArgumentDefaultsHelpFormatter) |
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parser.add_argument("--relative", action="store_true", help="Make timestamps relative to the start of each frame") |
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parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one") |
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parser.add_argument("--plot", action="store_true", help="If a plot should be generated") |
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parser.add_argument("route_or_segment_name", nargs='?', help="The route to print") |
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if len(sys.argv) == 1: |
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parser.print_help() |
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sys.exit() |
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args = parser.parse_args() |
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r = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip() |
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lr = logreader_from_route_or_segment(r, sort_by_time=True) |
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data, frame_mismatches = read_logs(lr) |
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lr.reset() |
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insert_cloudlogs(lr, data['timestamp']) |
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print_timestamps(data['timestamp'], data['duration'], args.relative) |
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if args.plot: |
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graph_timestamps(data['timestamp'], args.relative) |
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