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trap
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Logging tweaks

This commit is contained in:
Ruben van de Ven 2023-10-14 13:47:07 +02:00
parent 27565d919e
commit 9b39d7cd9b
3 changed files with 14 additions and 15 deletions
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7
trap/plumber.py
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@ -13,13 +13,18 @@ logger = logging.getLogger("trap.plumbing")
def start(): def start():
args = parser.parse_args() args = parser.parse_args()
loglevel = logging.NOTSET if args.verbose > 1 else logging.DEBUG if args.verbose > 0 else logging.INFO loglevel = logging.NOTSET if args.verbose > 1 else logging.DEBUG if args.verbose > 0 else logging.INFO
logging.basicConfig( logging.basicConfig(
level=loglevel, level=loglevel,
) )
# set per handler, so we can set it lower for the root logger if remote logging is enabled
root_logger = logging.getLogger()
[h.setLevel(loglevel) for h in root_logger.handlers]
if args.remote_log_addr: if args.remote_log_addr:
logging.captureWarnings(True) logging.captureWarnings(True)
root_logger = logging.getLogger()
root_logger.setLevel(logging.NOTSET) # to send all records to cutelog root_logger.setLevel(logging.NOTSET) # to send all records to cutelog
socket_handler = SocketHandler(args.remote_log_addr, args.remote_log_port) socket_handler = SocketHandler(args.remote_log_addr, args.remote_log_port)
root_logger.addHandler(socket_handler) root_logger.addHandler(socket_handler)

4
trap/prediction_server.py
View File

@ -301,7 +301,7 @@ class InferenceServer:
robot_present_and_future=robot_present_and_future, robot_present_and_future=robot_present_and_future,
full_dist=True) full_dist=True)
end = time.time() end = time.time()
logger.info("t=%d: took %.2f s (= %.2f Hz) w/ %d nodes and %d edges" % (timestep, end - start, logger.debug("took %.2f s (= %.2f Hz) w/ %d nodes and %d edges" % (end - start,
1. / (end - start), len(trajectron.nodes), 1. / (end - start), len(trajectron.nodes),
trajectron.scene_graph.get_num_edges())) trajectron.scene_graph.get_num_edges()))
@ -348,7 +348,7 @@ class InferenceServer:
} }
data = json.dumps(response) data = json.dumps(response)
logger.info(f"Frame delay = {time.time()-frame.time}s") logger.info(f"Total frame delay = {time.time()-frame.time}s ({len(trajectron.nodes)} nodes & {trajectron.scene_graph.get_num_edges()} edges. Trajectron: {end - start}s)")
self.prediction_socket.send_string(data) self.prediction_socket.send_string(data)

18
trap/tracker.py
View File

@ -56,16 +56,9 @@ class Tracker:
def track(self): def track(self):
while True: while True:
msg = self.frame_sock.recv() msg = self.frame_sock.recv()
# after block, exhaust the queue: (superfluous now that CONFLATE is before the connect) frame: Frame = pickle.loads(msg) # frame delivery in current setup: 0.012-0.03s
# i = 1 # logger.info(f"Frame delivery delay = {time.time()-frame.time}s")
# while True: start_time = time.time()
# try:
# msg = self.frame_sock.recv(zmq.NOBLOCK)
# i+=1
# except Exception as e:
# break
frame: Frame = pickle.loads(msg)
logger.info(f"Frame delivery delay = {time.time()-frame.time}s")
detections = self.detect_persons(frame.img) detections = self.detect_persons(frame.img)
tracks: [Track] = self.mot_tracker.update_tracks(detections, frame=frame.img) tracks: [Track] = self.mot_tracker.update_tracks(detections, frame=frame.img)
@ -84,10 +77,11 @@ class Tracker:
"id": tid, "id": tid,
"history": [{"x":c[0], "y":c[1]} for c in coords] # already doubles nested, fine for test "history": [{"x":c[0], "y":c[1]} for c in coords] # already doubles nested, fine for test
} }
logger.debug(f"{trajectories}") # logger.debug(f"{trajectories}")
frame.trajectories = trajectories frame.trajectories = trajectories
logger.info(f"trajectory delay = {time.time()-frame.time}s") current_time = time.time()
logger.debug(f"Trajectories: {len(trajectories)}. Current frame delay = {current_time-frame.time}s (trajectories: {current_time - start_time}s)")
self.trajectory_socket.send(pickle.dumps(frame)) self.trajectory_socket.send(pickle.dumps(frame))
# self.trajectory_socket.send_string(json.dumps(trajectories)) # self.trajectory_socket.send_string(json.dumps(trajectories))
# provide a {ID: {id: ID, history: [[x,y],[x,y],...]}} # provide a {ID: {id: ID, history: [[x,y],[x,y],...]}}