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Lukas Petersson
65fca83abe
* msg_order and gantt * frameId in long/lat planner * track frame id * controls frame id * graph tracked events * graph json * cloudlog timestamp * c++ cloudlog * add frame id * bug fixes * bug fixes * frame id visionicp * bug fixes and debug level * timestamp log placement * print timestamps in table * translate events * more logging * bug fixes * daemon boardd * print logs with boardd * more timestamp logs * cleanup * remove publish logs * bug fix * timestamp received * timestamp received * bug fixes * use json lib * ignore driver camera * prep for new timestamp pipeline * bug fix * read new pipeline unfinnished * read new pipeline * bug fix * add frame to controlsstate * remove controlsstate * print * cleanup * more cleanup + bug fix * clock build issue * remove unused imports * format durations * increase speed * pr comments fixes * conflicts * set MANAGER_DAEMON for boardd * clean script code * bug fix + argparse * remove rcv time * bug fixes * print without tabulate * fix pre-commits * plot gnatt * color bug fix * read without timestampextra * bump panda * mono time instead of frame id * finnish script * clean unused * clean unused logging * monotonic + json fixes * del test * remove whilelines * bump laika * cleanup * remove deps * logs nicer strings * remove plotting from scirpt * reset pipfile * reset pipfile * nicer strings * bug fix * bug fix * pr comments cleaning * remove plotting * bug fix * new demo route * bump opendbc and panda * cereal master * cereal master * script less komplex * assertions * matplotlib * readme * Update README.md * graph html * design fixes * more code design * Update common/logging_extra.py Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * whitespace Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * Update tools/latency_logger/latency_logger.py Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * pr comments * bug fix * readme + env once * clean swaglog * bug fix * Update tools/latencylogger/README.md Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * revert * revert * clean swaglog with error * remove typo file * revert graph * cereal * submodules * whitespaces * update refs Co-authored-by: Bruce Wayne <batman@workstation-openpilot2.internal> Co-authored-by: Comma Device <device@comma.ai> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
LatencyLogger
LatencyLogger is a tool to track the time from first pixel to actuation. Timestamps are printed in a table as well as plotted in a graph. Start openpilot with LOG_TIMESTAMPS=1 set to enable the necessary logging.
Usage
$ python latency_logger.py -h
usage: latency_logger.py [-h] [--relative] [--demo] [--plot] [route_or_segment_name]
A tool for analyzing openpilot's end-to-end latency
positional arguments:
route_or_segment_name
The route to print (default: None)
optional arguments:
-h, --help show this help message and exit
--relative Make timestamps relative to the start of each frame (default: False)
--demo Use the demo route instead of providing one (default: False)
--plot If a plot should be generated (default: False)
Examples
Plotting with relative starts each process at time=0 and gives a nice overview.
Plotting without relative provides info about the frames relative time.
Printed timestamps of a frame with internal durations.
Frame ID: 303
camerad
roadCameraState start of frame 0.0
wideRoadCameraState start of frame 0.091926
RoadCamera: Image set 1.691696
RoadCamera: Transformed 1.812841
roadCameraState published 51.775466
wideRoadCameraState published 54.935164
roadCameraState.processingTime 1.6455530421808362
wideRoadCameraState.processingTime 4.790564067661762
modeld
Image added 56.628788
Extra image added 57.459923
Execution finished 75.091306
modelV2 published 75.24797
modelV2.modelExecutionTime 20.00947669148445
modelV2.gpuExecutionTime 0.0
plannerd
lateralPlan published 80.426861
longitudinalPlan published 85.722781
lateralPlan.solverExecutionTime 1.0600379901006818
longitudinalPlan.solverExecutionTime 1.3830000534653664
controlsd
Data sampled 89.436221
Events updated 90.356522
sendcan published 91.396092
controlsState published 91.77843
Data sampled 99.885876
Events updated 100.696855
sendcan published 101.600489
controlsState published 101.941839
Data sampled 110.087669
Events updated 111.025365
sendcan published 112.305921
controlsState published 112.70451
Data sampled 119.692803
Events updated 120.56774
sendcan published 121.735016
controlsState published 122.142823
Data sampled 129.264761
Events updated 130.024282
sendcan published 130.950364
controlsState published 131.281558
boardd
sending sendcan to panda: 250027001751393037323631 101.705487
sendcan sent to panda: 250027001751393037323631 102.042462
sending sendcan to panda: 250027001751393037323631 112.416961
sendcan sent to panda: 250027001751393037323631 112.792269
sending sendcan to panda: 250027001751393037323631 121.850952
sendcan sent to panda: 250027001751393037323631 122.231103
sending sendcan to panda: 250027001751393037323631 131.045206
sendcan sent to panda: 250027001751393037323631 131.351296
sending sendcan to panda: 250027001751393037323631 141.340592
sendcan sent to panda: 250027001751393037323631 141.700744