count_events.py: show alerts

selfdrive/debug/count_events.py

@@ -5,7 +5,7 @@ import datetime
 from collections import Counter
 from pprint import pprint
 from tqdm import tqdm
-from typing import cast
+from typing import List, Tuple, cast
 
 from cereal.services import service_list
 from tools.lib.route import Route
@@ -20,6 +20,7 @@ if __name__ == "__main__":
   cams = [s for s in service_list if s.endswith('CameraState')]
   cnt_cameras = dict.fromkeys(cams, 0)
 
+  alerts: List[Tuple[float, str]] = []
   start_time = math.inf
   end_time = -math.inf
   for q in tqdm(r.qlog_paths()):
@@ -27,18 +28,22 @@ if __name__ == "__main__":
       continue
     lr = list(LogReader(q))
     for msg in lr:
+      end_time = max(end_time, msg.logMonoTime)
+      start_time = min(start_time, msg.logMonoTime)
+
       if msg.which() == 'carEvents':
         for e in msg.carEvents:
           cnt_events[e.name] += 1
+      elif msg.which() == 'controlsState':
+        if len(alerts) == 0 or alerts[-1][1] != msg.controlsState.alertType:
+          t = (msg.logMonoTime - start_time) / 1e9
+          alerts.append((t, msg.controlsState.alertType))
       elif msg.which() in cams:
         cnt_cameras[msg.which()] += 1
 
       if not msg.valid:
         cnt_valid[msg.which()] += 1
 
-      end_time = max(end_time, msg.logMonoTime)
-      start_time = min(start_time, msg.logMonoTime)
-
   duration = (end_time - start_time) / 1e9
 
   print("Events")
@@ -55,5 +60,10 @@ if __name__ == "__main__":
     expected_frames = int(s.frequency * duration / cast(float, s.decimation))
     print("  ", k.ljust(20), f"{v}, {v/expected_frames:.1%} of expected")
 
+  print("\n")
+  print("Alerts")
+  for t, a in alerts:
+    print(f"{t:8.2f} {a}")
+
   print("\n")
   print("Route duration", datetime.timedelta(seconds=duration))