main-with-performance-tests-with-nick

components/camera/collector-diff.diff

@@ -0,0 +1,51 @@
+diff --git a/data/collector.go b/data/collector.go
+index 707014114..a7a2544ec 100644
+--- a/data/collector.go
++++ b/data/collector.go
+@@ -78,6 +78,12 @@ type collector struct {
+ 	captureFunc      CaptureFunc
+ 	target           CaptureBufferedWriter
+ 	lastLoggedErrors map[string]int64
++
++	lastCaptureTime time.Time
++	captureCount    int64
++	captureMutex    sync.Mutex
++	runningFrequency float64
++	alpha            float64
+ }
+
+ // Close closes the channels backing the Collector. It should always be called before disposing of a Collector to avoid
+@@ -196,6 +202,25 @@ func (c *collector) getAndPushNextReading() {
+ 		return
+ 	}
+
++	// debug freq calculation
++	c.captureMutex.Lock()
++	defer c.captureMutex.Unlock()
++
++	if !c.lastCaptureTime.IsZero() {
++		elapsed := timeReceived.AsTime().Sub(c.lastCaptureTime).Seconds()
++		if elapsed > 0 {
++			frequency := 1.0 / elapsed
++			if c.runningFrequency == 0 {
++				c.runningFrequency = frequency
++			} else {
++				c.runningFrequency = c.alpha*frequency + (1-c.alpha)*c.runningFrequency
++			}
++			c.logger.Infow("capture frequency", "frequency_hz", frequency, "running_average_hz", c.runningFrequency)
++		}
++	}
++	c.lastCaptureTime = timeReceived.AsTime()
++	c.captureCount++
++
+ 	var msg v1.SensorData
+ 	switch v := reading.(type) {
+ 	case []byte:
+@@ -279,6 +304,7 @@ func NewCollector(captureFunc CaptureFunc, params CollectorParams) (Collector, e
+ 		target:           params.Target,
+ 		clock:            c,
+ 		lastLoggedErrors: make(map[string]int64, 0),
++		alpha: 0.1,
+ 	}, nil
+ }
+

data/collector.go

@@ -78,6 +78,8 @@ type collector struct {
 	captureFunc      CaptureFunc
 	target           CaptureBufferedWriter
 	lastLoggedErrors map[string]int64
+
+	lastCaptureTime time.Time
 }
 
 // Close closes the channels backing the Collector. It should always be called before disposing of a Collector to avoid
@@ -182,6 +184,8 @@ func (c *collector) getAndPushNextReading() {
 	timeRequested := timestamppb.New(c.clock.Now().UTC())
 	reading, err := c.captureFunc(c.cancelCtx, c.params)
 	timeReceived := timestamppb.New(c.clock.Now().UTC())
+	latency := timeReceived.AsTime().Sub(timeRequested.AsTime())
+	elapsed := timeReceived.AsTime().Sub(c.lastCaptureTime).Seconds()
 
 	if c.cancelCtx.Err() != nil {
 		return
@@ -196,6 +200,21 @@ func (c *collector) getAndPushNextReading() {
 		return
 	}
 
+	// debug on success
+	if !c.lastCaptureTime.IsZero() {
+		if elapsed > 0 {
+			frequency := 1.0 / elapsed
+			c.logger.Infow("capture metrics", 
+				"frequency_hz", frequency,
+				"latency_ms", latency.Milliseconds(),
+				"time_received", timeReceived.AsTime(),
+			)
+		} else {
+			panic("oh no")
+		}
+	}
+	c.lastCaptureTime = timeReceived.AsTime()
+
 	var msg v1.SensorData
 	switch v := reading.(type) {
 	case []byte:

web/cmd/server/main.go

@@ -3,18 +3,27 @@
 package main
 
 import (
+	"log"
+	"net/http"
+
 	"go.viam.com/utils"
 
 	// registers all components.
 	_ "go.viam.com/rdk/components/register"
 	"go.viam.com/rdk/logging"
+
 	// registers all services.
+	_ "net/http/pprof"
+
 	_ "go.viam.com/rdk/services/register"
 	"go.viam.com/rdk/web/server"
 )
 
 var logger = logging.NewDebugLogger("entrypoint")
 
 func main() {
+	go func() {
+		log.Println(http.ListenAndServe("0.0.0.0:6061", nil))
+	}()
 	utils.ContextualMain(server.RunServer, logger)
 }