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print update hz

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This commit is contained in:
Pepijn
2026-01-09 11:35:51 +01:00
parent e92d6fa067
commit 7fcd24427d
1 changed files with 14 additions and 2 deletions
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examples/openarms/evaluate_with_rtc_interpolation.py
+14 -2
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@@ -166,6 +166,7 @@ class HzTracker:
self.timestamps = deque(maxlen=window_size) self.timestamps = deque(maxlen=window_size)
self.last_print_time = 0 self.last_print_time = 0
self.print_interval = print_interval self.print_interval = print_interval
self.extra_info_fn = None # Optional callback for extra info
def tick(self) -> float | None: def tick(self) -> float | None:
now = time.perf_counter() now = time.perf_counter()
@@ -177,7 +178,10 @@ class HzTracker:
hz = (len(self.timestamps) - 1) / (self.timestamps[-1] - self.timestamps[0]) hz = (len(self.timestamps) - 1) / (self.timestamps[-1] - self.timestamps[0])
if now - self.last_print_time >= self.print_interval: if now - self.last_print_time >= self.print_interval:
print(f"{self.name} Hz: {hz:.1f}") extra = ""
if self.extra_info_fn:
extra = self.extra_info_fn()
print(f"[CONTROL] {self.name}: {hz:.1f} Hz{extra}", flush=True)
self.last_print_time = now self.last_print_time = now
return hz return hz
@@ -334,6 +338,7 @@ def get_actions_thread(
logger.info("[GET_ACTIONS] Starting RTC action generation thread") logger.info("[GET_ACTIONS] Starting RTC action generation thread")
latency_tracker = LatencyTracker() latency_tracker = LatencyTracker()
inference_hz_tracker = HzTracker(name="Inference", window_size=20, print_interval=5.0)
time_per_chunk = 1.0 / cfg.effective_policy_fps # Use effective FPS with speed multiplier time_per_chunk = 1.0 / cfg.effective_policy_fps # Use effective FPS with speed multiplier
hw_features = hw_to_dataset_features(robot.observation_features, "observation") hw_features = hw_to_dataset_features(robot.observation_features, "observation")
@@ -405,6 +410,10 @@ def get_actions_thread(
new_latency = time.perf_counter() - current_time new_latency = time.perf_counter() - current_time
new_delay = math.ceil(new_latency / time_per_chunk) new_delay = math.ceil(new_latency / time_per_chunk)
latency_tracker.add(new_latency) latency_tracker.add(new_latency)
# Set extra info to show latency
inference_hz_tracker.extra_info_fn = lambda lat=new_latency, delay=new_delay: f" | Latency: {lat*1000:.0f}ms | Delay: {delay}"
inference_hz_tracker.tick()
if cfg.action_queue_size_to_get_new_actions < cfg.rtc.execution_horizon + new_delay: if cfg.action_queue_size_to_get_new_actions < cfg.rtc.execution_horizon + new_delay:
logger.warning( logger.warning(
@@ -463,6 +472,9 @@ def actor_thread(
last_action_consume_time = 0 last_action_consume_time = 0
interpolator.reset() interpolator.reset()
hz_tracker.reset() hz_tracker.reset()
# Set up extra info callback to show queue size
hz_tracker.extra_info_fn = lambda: f" | Queue: {action_queue.qsize()}"
while not shutdown_event.is_set(): while not shutdown_event.is_set():
if not episode_active.is_set(): if not episode_active.is_set():
@@ -655,7 +667,7 @@ def main(cfg: OpenArmsRTCInterpEvalConfig):
can_interface="socketcan", can_interface="socketcan",
id="openarms_follower", id="openarms_follower",
disable_torque_on_disconnect=True, disable_torque_on_disconnect=True,
max_relative_target=10.0, max_relative_target=15.0,
cameras=camera_config, cameras=camera_config,
) )