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IQ.Lvbs CI [bot]
77 lines
2.1 KiB
Python
77 lines
2.1 KiB
Python
#!/usr/bin/env python3
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import argparse
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import statistics
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import time
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import cereal.messaging as messaging
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SERVICES = [
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"carState",
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"selfdriveState",
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"controlsState",
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"modelV2",
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"uiDebug",
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"liveCalibration",
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]
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def summarize(values: list[float]) -> str:
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if not values:
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return "n=0"
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return f"n={len(values)} avg_ms={statistics.fmean(values):.2f} max_ms={max(values):.2f}"
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def main() -> None:
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parser = argparse.ArgumentParser(description="On-device runtime lag probe")
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parser.add_argument("--seconds", type=float, default=15.0, help="Sampling window")
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args = parser.parse_args()
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sm = messaging.SubMaster(SERVICES)
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last_seen: dict[str, float] = {}
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gaps: dict[str, list[float]] = {service: [] for service in SERVICES}
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ui_draw_times: list[float] = []
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car_cum_lag: list[float] = []
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model_frame_drop: list[float] = []
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deadline = time.monotonic() + args.seconds
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while time.monotonic() < deadline:
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sm.update(100)
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now = time.monotonic()
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for service in SERVICES:
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if not sm.updated[service]:
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continue
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previous = last_seen.get(service)
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if previous is not None:
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gaps[service].append((now - previous) * 1000.0)
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last_seen[service] = now
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if sm.updated["uiDebug"]:
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ui_draw_times.append(float(sm["uiDebug"].drawTimeMillis))
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if sm.updated["carState"]:
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car_cum_lag.append(float(sm["carState"].cumLagMs))
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if sm.updated["modelV2"]:
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model_frame_drop.append(float(sm["modelV2"].frameDropPerc))
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print("Lag probe summary")
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for service in SERVICES:
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print(f"{service}: {summarize(gaps[service])}")
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print(f"uiDebug.drawTimeMillis: {summarize(ui_draw_times)}")
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print(f"carState.cumLagMs: {summarize(car_cum_lag)}")
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print(f"modelV2.frameDropPerc: {summarize(model_frame_drop)}")
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if sm.seen["liveCalibration"]:
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live_calib = sm["liveCalibration"]
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print(
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"liveCalibration:"
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f" status={int(live_calib.calStatus)}"
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f" calPerc={int(live_calib.calPerc)}"
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f" rpy={list(live_calib.rpyCalib)}"
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f" spread={list(live_calib.rpyCalibSpread)}"
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)
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if __name__ == "__main__":
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main()
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