aos/events/logging/log_stats.cc

#include <iomanip>
#include <iostream>
#include <queue>

#include "absl/strings/str_format.h"
#include "gflags/gflags.h"

#include "aos/events/logging/log_reader.h"
#include "aos/events/simulated_event_loop.h"
#include "aos/init.h"
#include "aos/json_to_flatbuffer.h"
#include "aos/time/time.h"

DEFINE_string(
    name, "",
    "Name to match for printing out channels. Empty means no name filter.");

DEFINE_string(node, "", "Node to print stats out for.");

DEFINE_bool(excessive_size_only, false,
            "Only print channels that have a set max message size that is more "
            "than double of the max message size.");

DEFINE_double(
    run_for, 0.0,
    "If set to a positive value, only process the log for this many seconds. "
    "Otherwise, process the log until the end of the log.");

// This class implements a histogram for tracking message period
// percentiles.
class Histogram {
 public:
  Histogram(size_t buckets = 1024)
      : max_value_bucket_(0.01), values_(buckets, 0.0), counts_(buckets, 0) {}

  // Adds a new sample to the histogram, potentially downsampling the existing
  // data.
  void Add(double value) {
    if (value < max_value_bucket_) {
      const ssize_t bucket = static_cast<size_t>(
          std::floor(value * values_.size() / max_value_bucket_));
      CHECK_GE(bucket, 0);
      CHECK_LT(bucket, static_cast<ssize_t>(values_.size()));
      values_[bucket] += value;
      if (all_counts_ == 0 || value > max_value_) {
        max_value_ = value;
      }
      if (all_counts_ == 0 || value < min_value_) {
        min_value_ = value;
      }
      ++counts_[bucket];
      ++all_counts_;
    } else {
      // Double all the bucket sizes by merging adjacent buckets and doubling
      // the max value.  If this isn't enough, we'll recurse inside Add and
      // do it again until it fits.
      max_value_bucket_ *= 2.0;
      for (size_t bucket = 0; bucket < values_.size() / 2; ++bucket) {
        values_[bucket] = values_[bucket * 2] + values_[bucket * 2 + 1];
        counts_[bucket] = counts_[bucket * 2] + counts_[bucket * 2 + 1];
      }
      for (size_t bucket = values_.size() / 2; bucket < values_.size();
           ++bucket) {
        values_[bucket] = 0.0;
        counts_[bucket] = 0;
      }
      Add(value);
    }
  }

  // Prints out the percentiles for a couple of critical numbers.
  std::string Percentile() const {
    const size_t percentile5 = all_counts_ / 20;
    double percentile5_value = 0.0;
    const size_t percentile50 = all_counts_ / 2;
    double percentile50_value = 0.0;
    const size_t percentile95 = all_counts_ - percentile5;
    double percentile95_value = 0.0;

    size_t count = 0;
    for (size_t i = 0; i < values_.size(); ++i) {
      if (count < percentile5 && count + counts_[i] >= percentile5) {
        percentile5_value = values_[i] / counts_[i];
      }
      if (count < percentile50 && count + counts_[i] >= percentile50) {
        percentile50_value = values_[i] / counts_[i];
      }
      if (count < percentile95 && count + counts_[i] >= percentile95) {
        percentile95_value = values_[i] / counts_[i];
      }
      count += counts_[i];
    }

    // Assume here that these are periods in seconds.  Convert to ms for
    // readability.  This isn't super generic, but that's fine for now.
    return absl::StrFormat(
        "[max %.3fms 95%%:%.3fms 50%%:%.3fms 5%%:%.3fms min %.3fms]",
        max_value_ * 1000., percentile95_value * 1000.,
        percentile50_value * 1000., percentile5_value * 1000.,
        min_value_ * 1000.);
  }

 private:
  // The size of the largest bucket.  Used to figure out which bucket something
  // goes into.
  double max_value_bucket_;
  // Max and min values overall we have seen.
  double max_value_ = 0;
  double min_value_ = 0;
  // A list of the sum of values and counts for those per bucket.
  std::vector<double> values_;
  std::vector<size_t> counts_;
  // Total number of samples.
  size_t all_counts_ = 0;
};

class ChannelStats {
 public:
  ChannelStats(const aos::Channel *channel, const aos::Node *destination_node,
               aos::SimulatedEventLoopFactory *factory)
      : channel_(channel),
        config_(factory->configuration()),
        factory_(factory),
        destination_node_(destination_node) {
    // Multi-node channel
    if (channel_->has_source_node() && channel_->has_destination_nodes() &&
        channel_->destination_nodes()->size() > 0) {
      CHECK(destination_node_)
          << "Should have destination node for forwarded channel: "
          << channel_->name()->string_view();
      source_node_ = aos::configuration::GetNode(
          config_, channel_->source_node()->string_view());
      CHECK(source_node_) << "Node not in config: "
                          << channel_->source_node()->string_view();
    }
  }

  // Adds a sample to the statistics.
  void Add(const aos::Context &context) {
    max_message_size_ = std::max(max_message_size_, context.size);
    total_message_size_ += context.size;
    total_num_messages_++;
    channel_end_time_ = context.realtime_event_time;
    first_message_time_ =
        std::min(first_message_time_, context.monotonic_event_time);
    if (current_message_time_ != aos::monotonic_clock::min_time) {
      histogram_.Add(std::chrono::duration<double>(
                         context.monotonic_event_time - current_message_time_)
                         .count());
    }
    current_message_time_ = context.monotonic_event_time;
    channel_storage_duration_messages_.push(current_message_time_);
    while (channel_storage_duration_messages_.front() +
               aos::configuration::ChannelStorageDuration(config_, channel_) <=
           current_message_time_) {
      channel_storage_duration_messages_.pop();
    }
    max_messages_per_period_ = std::max(
        max_messages_per_period_, channel_storage_duration_messages_.size());

    // Only count latency if this message is forwarded and the remote time was
    // filled
    if (source_node_ != nullptr &&
        context.monotonic_remote_time != context.monotonic_event_time) {
      // Convert times to distributed clock so they can be compared across nodes
      const aos::distributed_clock::time_point remote_time =
          factory_->GetNodeEventLoopFactory(source_node_)
              ->ToDistributedClock(context.monotonic_remote_time);

      const aos::distributed_clock::time_point event_time =
          factory_->GetNodeEventLoopFactory(destination_node_)
              ->ToDistributedClock(context.monotonic_event_time);
      // Add the current latency to the sum
      total_latency_ += event_time - remote_time;

      num_messages_with_remote_++;
    }
  }

  std::string Percentile() const { return histogram_.Percentile(); }

  double SecondsActive() const {
    return aos::time::DurationInSeconds(current_message_time_ -
                                        first_message_time_);
  }

  size_t max_message_size() const { return max_message_size_; }
  size_t total_num_messages() const { return total_num_messages_; }

  double avg_messages_per_sec() const {
    return total_num_messages_ / SecondsActive();
  }
  double max_messages_per_sec() const {
    return max_messages_per_period_ /
           std::min(SecondsActive(),
                    std::chrono::duration<double>(
                        aos::configuration::ChannelStorageDuration(config_,
                                                                   channel_))
                        .count());
  }
  size_t avg_message_size() const {
    return total_message_size_ / total_num_messages_;
  }
  size_t avg_message_bandwidth() const {
    return total_message_size_ / SecondsActive();
  }

  aos::realtime_clock::time_point channel_end_time() const {
    return channel_end_time_;
  }

  const aos::Channel *channel() const { return channel_; }

  std::string AvgLatency() {
    if (num_messages_with_remote_ == 0) {
      return "";
    }

    std::stringstream ss;
    ss << std::setprecision(3);

    const double avg_latency =
        std::chrono::duration<double, std::milli>(total_latency_).count() /
        num_messages_with_remote_;
    ss << '[' << source_node_->name()->string_view() << "->"
       << destination_node_->name()->string_view() << " " << avg_latency
       << "ms latency avg]";

    return ss.str();
  }

 private:
  // pointer to the channel for which stats are collected
  const aos::Channel *channel_;
  const aos::Configuration *config_;
  aos::SimulatedEventLoopFactory *factory_;
  aos::realtime_clock::time_point channel_end_time_ =
      aos::realtime_clock::min_time;
  aos::monotonic_clock::time_point first_message_time_ =
      // needs to be higher than time in the logfile!
      aos::monotonic_clock::max_time;
  aos::monotonic_clock::time_point current_message_time_ =
      aos::monotonic_clock::min_time;

  // Buffer of the last N seconds of messages, for N = channel_storage_duration.
  std::queue<aos::monotonic_clock::time_point>
      channel_storage_duration_messages_;
  size_t max_messages_per_period_ = 0;

  // channel stats to collect per channel
  int total_num_messages_ = 0;
  size_t max_message_size_ = 0;
  size_t total_message_size_ = 0;

  // Count of messages which had remote timestamps
  size_t num_messages_with_remote_ = 0;
  // Sum of latencies in all messages sent on this channel if multinode
  aos::distributed_clock::duration total_latency_;

  Histogram histogram_;

  const aos::Node *source_node_ = nullptr;
  const aos::Node *destination_node_;
};

struct LogfileStats {
  // All relevant stats on to logfile level
  size_t logfile_length = 0;
  int total_log_messages = 0;
  aos::realtime_clock::time_point logfile_end_time =
      aos::realtime_clock::min_time;
};

int main(int argc, char **argv) {
  gflags::SetUsageMessage(
      "Usage: \n"
      "  log_stats [args] logfile1 logfile2 ...\n"
      "This program provides statistics on a given log file. Supported "
      "statistics are:\n"
      " - Logfile start time;\n"
      " - Total messages per channel/type;\n"
      " - Max message size per channel/type;\n"
      " - Frequency of messages per second;\n"
      " - Total logfile size and number of messages;\n"
      " - Average latency per forwarded channel/type.\n"
      "Pass a logfile (path/filename) and use --name "
      "flag to specify a channel to listen on.");

  aos::InitGoogle(&argc, &argv);

  if (argc < 2) {
    LOG(FATAL) << "Expected at least 1 logfile as an argument.";
  }

  aos::logger::LogReader reader(
      aos::logger::SortParts(aos::logger::FindLogs(argc, argv)));

  LogfileStats logfile_stats;
  std::vector<ChannelStats> channel_stats;

  aos::SimulatedEventLoopFactory log_reader_factory(reader.configuration());
  reader.Register(&log_reader_factory);

  const aos::Node *node = nullptr;

  if (aos::configuration::MultiNode(reader.configuration())) {
    if (FLAGS_node.empty()) {
      LOG(INFO) << "Need a --node specified.  The log file has:";
      for (const aos::Node *node : reader.LoggedNodes()) {
        LOG(INFO) << "  " << node->name()->string_view();
      }
      reader.Deregister();
      return 1;
    } else {
      node = aos::configuration::GetNode(reader.configuration(), FLAGS_node);
    }
  }

  // Make an eventloop for retrieving stats
  std::unique_ptr<aos::EventLoop> stats_event_loop =
      log_reader_factory.MakeEventLoop("logstats", node);
  stats_event_loop->SkipTimingReport();
  stats_event_loop->SkipAosLog();

  // Read channel info and store in vector
  bool found_channel = false;
  const flatbuffers::Vector<flatbuffers::Offset<aos::Channel>> *channels =
      reader.configuration()->channels();

  int it = 0;  // iterate through the channel_stats
  for (flatbuffers::uoffset_t i = 0; i < channels->size(); i++) {
    const aos::Channel *channel = channels->Get(i);
    if (!aos::configuration::ChannelIsReadableOnNode(
            channel, stats_event_loop->node())) {
      continue;
    }

    if (channel->name()->string_view().find(FLAGS_name) == std::string::npos) {
      continue;
    }

    // Add a record to the stats vector.
    channel_stats.push_back({channel, node, &log_reader_factory});
    // Lambda to read messages and parse for information
    stats_event_loop->MakeRawNoArgWatcher(
        channel,
        [&logfile_stats, &channel_stats, it](const aos::Context &context) {
          channel_stats[it].Add(context);

          // Update the overall logfile statistics
          logfile_stats.logfile_length += context.size;
        });
    it++;
    // TODO (Stephan): Frequency of messages per second
    // - Sliding window
    // - Max / Deviation
    found_channel = true;
  }
  if (!found_channel) {
    LOG(FATAL) << "Could not find any channels";
  }

  if (FLAGS_run_for > 0.0) {
    log_reader_factory.RunFor(
        std::chrono::duration_cast<std::chrono::nanoseconds>(
            std::chrono::duration<double>(FLAGS_run_for)));
  } else {
    log_reader_factory.Run();
  }

  std::cout << std::endl;

  // Print out the stats per channel and for the logfile
  for (size_t i = 0; i != channel_stats.size(); i++) {
    if (!FLAGS_excessive_size_only ||
        (channel_stats[i].max_message_size() * 2) <
            static_cast<size_t>(channel_stats[i].channel()->max_size())) {
      if (channel_stats[i].total_num_messages() > 0) {
        std::cout << channel_stats[i].channel()->name()->string_view() << " "
                  << channel_stats[i].channel()->type()->string_view() << "\n";

        logfile_stats.total_log_messages +=
            channel_stats[i].total_num_messages();
        logfile_stats.logfile_end_time =
            std::max(logfile_stats.logfile_end_time,
                     channel_stats[i].channel_end_time());

        if (!FLAGS_excessive_size_only) {
          std::cout << "   " << channel_stats[i].total_num_messages()
                    << " msgs, " << channel_stats[i].avg_messages_per_sec()
                    << "hz avg, " << channel_stats[i].max_messages_per_sec()
                    << "hz max, " << channel_stats[i].channel()->frequency()
                    << "hz configured max";
        }
        std::cout << " " << channel_stats[i].avg_message_size()
                  << " bytes avg, " << channel_stats[i].avg_message_bandwidth()
                  << " bytes/sec avg, " << channel_stats[i].max_message_size()
                  << " bytes max / " << channel_stats[i].channel()->max_size()
                  << "bytes, " << channel_stats[i].Percentile() << ", "
                  << channel_stats[i].AvgLatency();
        std::cout << std::endl;
      }
    }
  }
  std::cout << std::setfill('-') << std::setw(80) << "-"
            << "\nLogfile statistics:\n"
            << "Log starts at:\t" << reader.realtime_start_time(node) << "\n"
            << "Log ends at:\t" << logfile_stats.logfile_end_time << "\n"
            << "Log file size:\t" << logfile_stats.logfile_length << "\n"
            << "Total messages:\t" << logfile_stats.total_log_messages << "\n";

  // Cleanup the created processes
  reader.Deregister();

  return 0;
}