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https://gitlvb.teallvbs.xyz/IQ.Lvbs/IQ.Pilot.git
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IQ.Lvbs CI [bot]
79 lines
3.0 KiB
Python
Executable File
79 lines
3.0 KiB
Python
Executable File
#!/usr/bin/env python3
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"""
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sendcan_gap_audit.py — measure the openpilot->car actuator TX cadence from an rlog.
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WHY: VW PQ random long/lat disengages are caused by control-loop STALLS that
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freeze the `sendcan` publish for >100ms. The car's ECU runs a counter/checksum
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watchdog on the actuator messages (ACC_System ADR, HCA_1) and FAULTS when frames
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arrive late/missing — it does NOT care about the payload value. So the single
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metric that predicts the fault is the inter-frame GAP in sendcan, not anything
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about accel/torque. (Reference: route 20e3cd4f0d5f39d1|00000038--0f69286335 had a
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103ms gap at ~373s -> engine MO2_Sta_GRA->0 -> main switch off -> disengage. A
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separate 60ms gap did NOT disengage: the ECU timeout sits ~60-100ms.)
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This is the pass/fail metric for the mlockall / loggerd-writeback fix (5324c46)
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and, later, the decoupled in-card heartbeat TX. Run it on a BASELINE route to see
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the offending gaps, then on POST-FIX drives to confirm they're gone.
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python3 tools/scripts/sendcan_gap_audit.py <route_or_segment> [--warn-ms 30] [--fault-ms 100]
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Exit code 0 if no gap >= --fault-ms, else 1 (so it can gate CI / a smoke test).
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Read-only; pulls rlogs via the normal LogReader (konn3kt for IQ.Pilot routes).
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"""
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import argparse
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import sys
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from openpilot.tools.lib.logreader import LogReader
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def audit(route: str, warn_ms: float, fault_ms: float) -> int:
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lr = LogReader(route, sort_by_time=True)
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last = None
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gaps = [] # (t_end, dt_ms) for every gap >= warn_ms
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n = 0
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worst = 0.0
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for m in lr:
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if m.which() != "sendcan":
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continue
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t = m.logMonoTime / 1e9
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n += 1
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if last is not None:
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dt = (t - last) * 1000.0
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worst = max(worst, dt)
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if dt >= warn_ms:
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gaps.append((t, dt))
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last = t
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faults = [(t, dt) for t, dt in gaps if dt >= fault_ms]
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print(f"route : {route}")
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print(f"sendcan frames : {n}")
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print(f"worst gap : {worst:.1f} ms")
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print(f"gaps >= {warn_ms:.0f}ms : {len(gaps)}")
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print(f"gaps >= {fault_ms:.0f}ms (FAULT-RISK): {len(faults)}")
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if gaps:
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print("\n t(s) gap(ms) risk")
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for t, dt in gaps:
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print(f" {t:10.3f} {dt:7.1f} {'<-- FAULT RISK' if dt >= fault_ms else ''}")
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if faults:
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print(f"\nFAIL: {len(faults)} gap(s) >= {fault_ms:.0f}ms can trip the car's "
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f"actuator counter watchdog (late/missing frames).")
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return 1
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print(f"\nPASS: no sendcan gap >= {fault_ms:.0f}ms.")
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return 0
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def main() -> int:
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p = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
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p.add_argument("route", help="route name, segment, or URL (e.g. dongle|time--hash or .../5:8)")
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p.add_argument("--warn-ms", type=float, default=30.0, help="list gaps >= this (default 30)")
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p.add_argument("--fault-ms", type=float, default=100.0, help="fail on gaps >= this (default 100)")
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args = p.parse_args()
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return audit(args.route, args.warn_ms, args.fault_ms)
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if __name__ == "__main__":
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sys.exit(main())
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