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203 lines
8.3 KiB
203 lines
8.3 KiB
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 mpld3
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import sys
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from collections import defaultdict
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from tools.lib.logreader import logreader_from_route_or_segment
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DEMO_ROUTE = "9f583b1d93915c31|2022-04-06--11-34-03"
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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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next_service = SERVICES[SERVICES.index(service)+1]
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if not data['start'][frame_id][next_service]:
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data['start'][frame_id][next_service] = msg.logMonoTime
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data['end'][frame_id][service] = 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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if not data['start'][frame_id][service]:
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data['start'][frame_id][service] = 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 find_frame_id(time, service, start_times, end_times):
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for frame_id in reversed(start_times):
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if start_times[frame_id][service] and end_times[frame_id][service]:
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if start_times[frame_id][service] <= time <= end_times[frame_id][service]:
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yield frame_id
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## ASSUMES THAT AT LEAST ONE CLOUDLOG IS MADE IN CONTROLSD
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def insert_cloudlogs(lr, timestamps, start_times, end_times):
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t0 = start_times[min(start_times.keys())][SERVICES[0]]
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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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if "frame_id" in jmsg['msg']['timestamp']:
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timestamps[int(jmsg['msg']['timestamp']['frame_id'])][service].append((event, time))
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continue
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if service == "boardd":
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timestamps[latest_controls_frameid][service].append((event, time))
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end_times[latest_controls_frameid][service] = time
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else:
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frame_id_gen = find_frame_id(time, service, start_times, end_times)
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frame_id = next(frame_id_gen, False)
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if frame_id:
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if service == 'controlsd':
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latest_controls_frameid = frame_id
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if next(frame_id_gen, False):
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event += " (warning: ambiguity)"
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timestamps[frame_id][service].append((event, time))
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else:
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failed_inserts += 1
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assert latest_controls_frameid > 0, "No timestamp in controlsd"
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assert failed_inserts < len(timestamps), "Too many failed cloudlog inserts"
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def print_timestamps(timestamps, durations, start_times, relative):
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t0 = start_times[min(start_times.keys())][SERVICES[0]]
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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 = start_times[frame_id][SERVICES[0]]
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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, start_times, end_times, relative):
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t0 = start_times[min(start_times.keys())][SERVICES[0]]
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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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ax.set_xlabel('milliseconds')
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ax.set_ylabel('Frame ID')
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colors = ['blue', 'green', 'red', 'yellow', 'purple']
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assert len(colors) == len(SERVICES), 'Each service needs a color'
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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 = start_times[frame_id][SERVICES[0]]
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service_bars = []
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for service, events in services.items():
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if start_times[frame_id][service] and end_times[frame_id][service]:
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start = start_times[frame_id][service]
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end = end_times[frame_id][service]
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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)
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points['labels'].append(event[0])
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ax.broken_barh(service_bars, (frame_id-0.45, 0.9), facecolors=(colors), alpha=0.5)
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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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mpld3.plugins.connect(fig, tooltip)
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plt.legend(handles=[mpatches.Patch(color=colors[i], label=SERVICES[i]) for i in range(len(SERVICES))])
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return fig
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def get_timestamps(lr):
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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'], data['start'], data['end'])
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return data, frame_mismatches
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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, _ = get_timestamps(lr)
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print_timestamps(data['timestamp'], data['duration'], data['start'], args.relative)
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if args.plot:
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mpld3.show(graph_timestamps(data['timestamp'], data['start'], data['end'], args.relative))
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