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139 lines
4.9 KiB
139 lines
4.9 KiB
#!/usr/bin/env python3
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import argparse
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import json
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import matplotlib.patches as mpatches
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import matplotlib.pyplot as plt
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import sys
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from collections import defaultdict
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from openpilot.tools.lib.logreader import LogReader
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DEMO_ROUTE = "9f583b1d93915c31|2022-05-18--10-49-51--0"
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COLORS = ['blue', 'green', 'red', 'yellow', 'orange', 'purple']
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PLOT_SERVICES = ['card', 'controlsd'] # , 'boardd']
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def plot(lr):
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seen = set()
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aligned = False
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start_time = None
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# dict of services to events per inferred frame
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times = {s: [[]] for s in PLOT_SERVICES}
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first_event = None
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# temp_times = {s: [] for s in PLOT_SERVICES} # holds only current frame of services
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timestamps = [json.loads(msg.logMessage) for msg in lr if msg.which() == 'logMessage' and 'timestamp' in msg.logMessage]
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# print(timestamps)
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timestamps = sorted(timestamps, key=lambda m: float(m['msg']['timestamp']['time']))
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# closely matches timestamp time
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start_time = next(msg.logMonoTime for msg in lr)
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for jmsg in timestamps:
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if len(times[PLOT_SERVICES[0]]) > 400:
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continue
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# print()
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# print(msg.logMonoTime)
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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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# print(jmsg)
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# print(seen)
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if service in PLOT_SERVICES and first_event is None:
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first_event = event
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# Align the best we can; wait for all to be seen and this is the first event
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# TODO: detect first logMessage correctly by keeping track of events before aligned
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aligned = aligned or (all(s in seen for s in PLOT_SERVICES) and event == first_event)
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if not aligned:
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seen.add(service)
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continue
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if service in PLOT_SERVICES:
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# new frame when we've seen this event before
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new_frame = event in {e[1] for e in times[service][-1]}
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if new_frame:
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times[service].append([])
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# print(msg.logMonoTime, jmsg)
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print('new_frame', new_frame)
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times[service][-1].append(((time - start_time) * 1e-6, event))
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points = {"x": [], "y": [], "labels": []}
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height = 0.9
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offsets = [[0, -10 * j] for j in range(len(PLOT_SERVICES))]
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fig, ax = plt.subplots()
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for idx, service_times in enumerate(zip(*times.values())):
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print()
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print('idx', idx)
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service_bars = []
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for j, (service, frame_times) in enumerate(zip(times.keys(), service_times)):
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if idx + 1 == len(times[service]):
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break
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print(service, frame_times)
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start = frame_times[0][0]
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# use the first event time from next frame
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end = times[service][idx + 1][0][0] # frame_times[-1][0]
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print('start, end', start, end)
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service_bars.append((start, end - start))
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for event in frame_times:
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points['x'].append(event[0])
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points['y'].append(idx - j * 1)
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points['labels'].append(event[1])
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print(service_bars)
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# offset = offset_services
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# offset each service
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for j, sb in enumerate(service_bars):
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ax.broken_barh([sb], (idx - height / 2 - j * 1, height), facecolors=[COLORS[j]], alpha=0.5) # , offsets=offsets)
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# ax.broken_barh(service_bars, (idx - height / 2, height), facecolors=COLORS, alpha=0.5, offsets=offsets)
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scatter = ax.scatter(points['x'], points['y'], marker='d', edgecolor='black')
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txt = ax.text(0, 0, '', ha='center', fontsize=8, color='red')
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ax.set_xlabel('milliseconds')
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plt.legend(handles=[mpatches.Patch(color=COLORS[i], label=PLOT_SERVICES[i]) for i in range(len(PLOT_SERVICES))])
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def hover(event):
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txt.set_text("")
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status, pts = scatter.contains(event)
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txt.set_visible(status)
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if status:
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txt.set_text(points['labels'][pts['ind'][0]])
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txt.set_position((event.xdata, event.ydata + 1))
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event.canvas.draw()
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fig.canvas.mpl_connect("motion_notify_event", hover)
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plt.show()
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# plt.pause(1000)
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return times, points
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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("--demo", action="store_true", help="Use the demo route instead of providing one")
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# parser.add_argument("route_or_segment_name", nargs='?', help="The route to print")
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#
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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(r, sort_by_time=True)
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lr = LogReader('08e4c2a99df165b1/00000016--c3a4ca99ec/0', sort_by_time=True) # normal
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# lr = LogReader('08e4c2a99df165b1/00000017--e2d24ab118/0', sort_by_time=True) # polls on carControl
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# lr = LogReader('08e4c2a99df165b1/00000018--cf65e47c24/0', sort_by_time=True) # polls on carControl, sends it earlier
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# lr = LogReader('08e4c2a99df165b1/00000019--e73e3ab4df/0', sort_by_time=True) # polls on carControl, more logging
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times, points = plot(lr)
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