wip

selfdrive/debug/count_events.py

@@ -0,0 +1,76 @@
+#!/usr/bin/env python3
+import sys
+import math
+import datetime
+from collections import Counter
+from pprint import pprint
+from typing import cast
+
+from cereal.services import SERVICE_LIST
+from openpilot.tools.lib.logreader import LogReader, ReadMode
+
+if __name__ == "__main__":
+  cnt_events: Counter = Counter()
+
+  cams = [s for s in SERVICE_LIST if s.endswith('CameraState')]
+  cnt_cameras = dict.fromkeys(cams, 0)
+
+  events: list[tuple[float, set[str]]] = []
+  alerts: list[tuple[float, str]] = []
+  start_time = math.inf
+  end_time = -math.inf
+  ignition_off = None
+  for msg in LogReader(sys.argv[1], ReadMode.QLOG):
+    t = (msg.logMonoTime - start_time) / 1e9
+    end_time = max(end_time, msg.logMonoTime)
+    start_time = min(start_time, msg.logMonoTime)
+
+    if msg.which() == 'onroadEvents':
+      for e in msg.onroadEvents:
+        cnt_events[e.name] += 1
+
+      ae = {str(e.name) for e in msg.onroadEvents if e.name not in ('pedalPressed', 'steerOverride', 'gasPressedOverride')}
+      if len(events) == 0 or ae != events[-1][1]:
+        events.append((t, ae))
+
+    elif msg.which() == 'controlsState':
+      at = msg.controlsState.alertType
+      if "/override" not in at or "lanechange" in at.lower():
+        if len(alerts) == 0 or alerts[-1][1] != at:
+          alerts.append((t, at))
+    elif msg.which() == 'pandaStates':
+      if ignition_off is None:
+        ign = any(ps.ignitionLine or ps.ignitionCan for ps in msg.pandaStates)
+        if not ign:
+          ignition_off = msg.logMonoTime
+          break
+    elif msg.which() in cams:
+      cnt_cameras[msg.which()] += 1
+
+  duration = (end_time - start_time) / 1e9
+
+  print("Events")
+  pprint(cnt_events)
+
+  print("\n")
+  print("Events")
+  for t, evt in events:
+    print(f"{t:8.2f} {evt}")
+
+  print("\n")
+  print("Cameras")
+  for k, v in cnt_cameras.items():
+    s = SERVICE_LIST[k]
+    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")
+  if ignition_off is not None:
+    ignition_off = round((ignition_off - start_time) / 1e9, 2)
+  print("Ignition off at",  ignition_off)
+  print("Route duration", datetime.timedelta(seconds=duration))