Logging tweaks

trap/plumber.py

@@ -13,13 +13,18 @@ logger = logging.getLogger("trap.plumbing")
 def start():
     args = parser.parse_args()
     loglevel = logging.NOTSET if args.verbose > 1 else logging.DEBUG if args.verbose > 0  else logging.INFO
+    
     logging.basicConfig(
         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:
         logging.captureWarnings(True)
-        root_logger = logging.getLogger()
         root_logger.setLevel(logging.NOTSET)  # to send all records to cutelog
         socket_handler = SocketHandler(args.remote_log_addr, args.remote_log_port)
         root_logger.addHandler(socket_handler)

trap/prediction_server.py

@@ -301,7 +301,7 @@ class InferenceServer:
                                                         robot_present_and_future=robot_present_and_future,
                                                         full_dist=True)
             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),
                                                                             trajectron.scene_graph.get_num_edges()))
 
@@ -348,7 +348,7 @@ class InferenceServer:
                 }
 
             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)
 
             

trap/tracker.py

@@ -56,16 +56,9 @@ class Tracker:
     def track(self):
         while True:
             msg = self.frame_sock.recv()
-            # after block, exhaust the queue: (superfluous now that CONFLATE is before the connect)
-            # i = 1
-            # while True:
-            #     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")
+            frame: Frame = pickle.loads(msg) # frame delivery in current setup: 0.012-0.03s
+            # logger.info(f"Frame delivery delay = {time.time()-frame.time}s")
+            start_time = time.time()
             detections = self.detect_persons(frame.img)
             tracks: [Track] = self.mot_tracker.update_tracks(detections, frame=frame.img)
 
@@ -84,10 +77,11 @@ class Tracker:
                      "id": tid,
                      "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
 
-            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_string(json.dumps(trajectories))
             # provide a {ID: {id: ID, history: [[x,y],[x,y],...]}}