IQ.Pilot Prebuilt Release @ ab07000

tools/diagnostics/lag_probe.py

@@ -0,0 +1,76 @@
+#!/usr/bin/env python3
+import argparse
+import statistics
+import time
+
+import cereal.messaging as messaging
+
+
+SERVICES = [
+  "carState",
+  "selfdriveState",
+  "controlsState",
+  "modelV2",
+  "uiDebug",
+  "liveCalibration",
+]
+
+
+def summarize(values: list[float]) -> str:
+  if not values:
+    return "n=0"
+  return f"n={len(values)} avg_ms={statistics.fmean(values):.2f} max_ms={max(values):.2f}"
+
+
+def main() -> None:
+  parser = argparse.ArgumentParser(description="On-device runtime lag probe")
+  parser.add_argument("--seconds", type=float, default=15.0, help="Sampling window")
+  args = parser.parse_args()
+
+  sm = messaging.SubMaster(SERVICES)
+  last_seen: dict[str, float] = {}
+  gaps: dict[str, list[float]] = {service: [] for service in SERVICES}
+  ui_draw_times: list[float] = []
+  car_cum_lag: list[float] = []
+  model_frame_drop: list[float] = []
+
+  deadline = time.monotonic() + args.seconds
+  while time.monotonic() < deadline:
+    sm.update(100)
+    now = time.monotonic()
+    for service in SERVICES:
+      if not sm.updated[service]:
+        continue
+      previous = last_seen.get(service)
+      if previous is not None:
+        gaps[service].append((now - previous) * 1000.0)
+      last_seen[service] = now
+
+    if sm.updated["uiDebug"]:
+      ui_draw_times.append(float(sm["uiDebug"].drawTimeMillis))
+    if sm.updated["carState"]:
+      car_cum_lag.append(float(sm["carState"].cumLagMs))
+    if sm.updated["modelV2"]:
+      model_frame_drop.append(float(sm["modelV2"].frameDropPerc))
+
+  print("Lag probe summary")
+  for service in SERVICES:
+    print(f"{service}: {summarize(gaps[service])}")
+
+  print(f"uiDebug.drawTimeMillis: {summarize(ui_draw_times)}")
+  print(f"carState.cumLagMs: {summarize(car_cum_lag)}")
+  print(f"modelV2.frameDropPerc: {summarize(model_frame_drop)}")
+
+  if sm.seen["liveCalibration"]:
+    live_calib = sm["liveCalibration"]
+    print(
+      "liveCalibration:"
+      f" status={int(live_calib.calStatus)}"
+      f" calPerc={int(live_calib.calPerc)}"
+      f" rpy={list(live_calib.rpyCalib)}"
+      f" spread={list(live_calib.rpyCalibSpread)}"
+    )
+
+
+if __name__ == "__main__":
+  main()