fix: KCP日志在A端记录

2026-04-11 20:43:14 +08:00
parent 9009107a64
commit d819f9ca4d
6 changed files with 181 additions and 3 deletions
--- a/README.md
+++ b/README.md
@@ -34,10 +34,13 @@ Server `D` runs the KCP hub on `0.0.0.0:10909`:
 ```bash
 ./bin/kcpserver -listen 0.0.0.0:10909 \
  -telemetry-peer peer-a-telemetry \
-  -kcp-ts-debug-log logs/d-kcp-ts.jsonl \
-  -kcp-session-stats-log logs/d-kcp-stats.jsonl
+  -telemetry-interval 1000ms \
+  -kcp-session-stats-log logs/d-kcp-stats.jsonl \
+  -kcp-session-stats-interval 1000ms
 ```

+For multi-hour runs, keep `-latency-log` and `-kcp-ts-debug-log` off unless you are collecting a short repro trace.
+
 Relay `C` runs a raw UDP forwarder to `D`:

 ```bash
--- a/scripts/dev/README.md
+++ b/scripts/dev/README.md
@@ -26,6 +26,7 @@ If your `robot-command-center` is elsewhere, set `ROBOT_COMMAND_CENTER_ROOT` in
 - `load-env.sh`: loads the shared environment into the current shell
 - `apply-camera-controls.sh`: applies the camera preset before `b_side_omnid` starts
 - `start-backend.sh`: starts Django ASGI with `uvicorn`
+- `log-network-summary.py`: polls the backend `network/latest` API and appends compact JSONL snapshots
 - `start-frontend.sh`: starts the Vite dev server
 - `start-ros-receiver.sh`: starts the ROS2 `udp_teleop_bridge` receiver
 - `start-b-side-omnid.sh`: applies camera controls, then starts `./bin/b_side_omnid` and uses `sudo -E` by default
@@ -81,6 +82,12 @@ Edit `scripts/dev/robot-remote.env` for shared changes such as:
 - `OMNI_VIDEO_HARD_BACKPRESSURE_HOLD_MS`
 - `OMNI_CONTROL_SERVER_IDLE_RECONNECT_MS`
 - `OMNI_VIDEO_MAX_FRAME_AGE_MS`
+- `OMNISOCKET_TELEMETRY_PEER_ID`
+- `OMNISOCKET_TELEMETRY_INTERVAL_MS`
+- `OMNISOCKET_TELEMETRY_STALE_AFTER_MS`
+- `OMNI_NETWORK_SUMMARY_LOG_ENABLED`
+- `OMNI_NETWORK_SUMMARY_LOG_PATH`
+- `OMNI_NETWORK_SUMMARY_LOG_INTERVAL_MS`

 Camera presets use `v4l2-ctl` from `v4l-utils` on the robot side.

@@ -96,6 +103,25 @@ New repair knobs:
 - `OMNI_VIDEO_SOFT_BACKPRESSURE_SEGMENTS`, `OMNI_VIDEO_HARD_BACKPRESSURE_SEGMENTS`, and `OMNI_VIDEO_HARD_BACKPRESSURE_HOLD_MS` are used by `b_side_omnid`
 - `OMNI_CONTROL_SERVER_IDLE_RECONNECT_MS` is used by `b_side_omnid`
 - `OMNI_VIDEO_MAX_FRAME_AGE_MS` is used by `start-backend.sh` on the A-side backend, not by `b_side_omnid`
+- `OMNISOCKET_TELEMETRY_INTERVAL_MS` and `OMNISOCKET_TELEMETRY_STALE_AFTER_MS` tune the backend's D-side telemetry freshness window
+- `OMNI_NETWORK_SUMMARY_LOG_*` controls the A-side JSONL summary logger that polls `GET /api/network/latest/`
+
+Default long-run network logging:
+
+- A-side starts a compact JSONL logger by default at `${OMNISOCKETGO_ROOT}/logs/a-network-summary.jsonl`
+- The default A-side polling interval is `2000 ms`
+- For D-side long runs, prefer:
+
+```bash
+./bin/kcpserver -listen 0.0.0.0:10909 \
+  -telemetry-peer peer-a-telemetry \
+  -telemetry-interval 1000ms \
+  -kcp-session-stats-log logs/d-kcp-stats.jsonl \
+  -kcp-session-stats-interval 1000ms
+```
+
+- Keep `-latency-log` and `-kcp-ts-debug-log` off by default for multi-hour runs
+- Do not continuously redirect relay `C` stderr to a file unless you are reproducing a short issue window

 Put machine-specific overrides into `scripts/dev/robot-remote.env.local`. Example:

@@ -103,6 +129,7 @@ Put machine-specific overrides into `scripts/dev/robot-remote.env.local`. Exampl
 ROBOT_COMMAND_CENTER_ROOT="$HOME/Documents/robot-command-center"
 OMNI_CAMERA_DEVICE="/dev/video30"
 B_SIDE_OMNID_USE_SUDO="0"
+OMNI_NETWORK_SUMMARY_LOG_INTERVAL_MS="5000"
 ```

 Default camera behavior is the `night` preset:
--- a/scripts/dev/load-env.sh
+++ b/scripts/dev/load-env.sh
@@ -100,6 +100,13 @@ export BACKEND_HOST="${BACKEND_HOST:-0.0.0.0}"
 export BACKEND_PORT="${BACKEND_PORT:-8001}"
 export FRONTEND_HOST="${FRONTEND_HOST:-0.0.0.0}"
 export FRONTEND_PORT="${FRONTEND_PORT:-5173}"
+export OMNISOCKET_TELEMETRY_PEER_ID="${OMNISOCKET_TELEMETRY_PEER_ID:-peer-a-telemetry}"
+export OMNISOCKET_TELEMETRY_INTERVAL_MS="${OMNISOCKET_TELEMETRY_INTERVAL_MS:-1000}"
+export OMNISOCKET_TELEMETRY_STALE_AFTER_MS="${OMNISOCKET_TELEMETRY_STALE_AFTER_MS:-3000}"
+export OMNI_NETWORK_SUMMARY_LOG_ENABLED="${OMNI_NETWORK_SUMMARY_LOG_ENABLED:-1}"
+export OMNI_NETWORK_SUMMARY_LOG_PATH="${OMNI_NETWORK_SUMMARY_LOG_PATH:-${OMNISOCKETGO_ROOT}/logs/a-network-summary.jsonl}"
+export OMNI_NETWORK_SUMMARY_LOG_INTERVAL_MS="${OMNI_NETWORK_SUMMARY_LOG_INTERVAL_MS:-2000}"
+export OMNI_NETWORK_SUMMARY_LOG_REQUEST_TIMEOUT_SEC="${OMNI_NETWORK_SUMMARY_LOG_REQUEST_TIMEOUT_SEC:-3}"
 export CONTROL_SIDE_OMNISOCKET_SERVER_ADDR="${CONTROL_SIDE_OMNISOCKET_SERVER_ADDR:-}"
 export CONTROL_SIDE_OMNISOCKET_RELAY_VIA="${CONTROL_SIDE_OMNISOCKET_RELAY_VIA:-}"
 export ROBOT_SIDE_OMNISOCKET_SERVER_ADDR="${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR:-}"
--- a/scripts/dev/log-network-summary.py
+++ b/scripts/dev/log-network-summary.py
@@ -0,0 +1,100 @@
+#!/usr/bin/env python3
+from __future__ import annotations
+
+import argparse
+import json
+import signal
+import sys
+import time
+import urllib.error
+import urllib.request
+from pathlib import Path
+
+
+STOP_REQUESTED = False
+
+
+def handle_signal(signum: int, frame: object) -> None:
+    del signum, frame
+    global STOP_REQUESTED
+    STOP_REQUESTED = True
+
+
+def parse_args() -> argparse.Namespace:
+    parser = argparse.ArgumentParser(description="Poll /api/network/latest/ and append JSONL snapshots.")
+    parser.add_argument("--url", required=True, help="HTTP endpoint that returns the network summary JSON.")
+    parser.add_argument("--output", required=True, help="Output JSONL path.")
+    parser.add_argument(
+        "--interval-ms",
+        type=int,
+        default=2000,
+        help="Polling interval in milliseconds. Default: 2000.",
+    )
+    parser.add_argument(
+        "--request-timeout-sec",
+        type=float,
+        default=3.0,
+        help="Single request timeout in seconds. Default: 3.0.",
+    )
+    return parser.parse_args()
+
+
+def sleep_with_stop(seconds: float) -> None:
+    deadline = time.monotonic() + max(0.0, seconds)
+    while not STOP_REQUESTED:
+        remaining = deadline - time.monotonic()
+        if remaining <= 0.0:
+            return
+        time.sleep(min(remaining, 0.2))
+
+
+def fetch_json(url: str, timeout_sec: float) -> str:
+    request = urllib.request.Request(
+        url,
+        headers={
+            "Accept": "application/json",
+            "Cache-Control": "no-cache",
+        },
+        method="GET",
+    )
+    with urllib.request.urlopen(request, timeout=timeout_sec) as response:
+        charset = response.headers.get_content_charset("utf-8")
+        payload = response.read().decode(charset)
+    parsed = json.loads(payload)
+    return json.dumps(parsed, separators=(",", ":"), ensure_ascii=False)
+
+
+def main() -> int:
+    args = parse_args()
+    interval_sec = max(args.interval_ms, 200) / 1000.0
+    output_path = Path(args.output)
+    last_error_log_monotonic = 0.0
+
+    signal.signal(signal.SIGINT, handle_signal)
+    signal.signal(signal.SIGTERM, handle_signal)
+
+    output_path.parent.mkdir(parents=True, exist_ok=True)
+
+    with output_path.open("a", encoding="utf-8") as output_file:
+        while not STOP_REQUESTED:
+            started = time.monotonic()
+            try:
+                line = fetch_json(args.url, args.request_timeout_sec)
+            except (TimeoutError, urllib.error.URLError, urllib.error.HTTPError, json.JSONDecodeError) as error:
+                now = time.monotonic()
+                if now - last_error_log_monotonic >= 10.0:
+                    print(f"[network-summary] poll failed: {error}", file=sys.stderr)
+                    last_error_log_monotonic = now
+            else:
+                output_file.write(line)
+                output_file.write("\n")
+                output_file.flush()
+
+            elapsed = time.monotonic() - started
+            sleep_with_stop(max(0.0, interval_sec - elapsed))
+
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
--- a/scripts/dev/robot-remote.env
+++ b/scripts/dev/robot-remote.env
@@ -19,6 +19,13 @@ PYTHON_VENV_PATH="${OMNISOCKETGO_ROOT}/.venv"

 BACKEND_HOST="0.0.0.0"
 BACKEND_PORT="8001"
+OMNISOCKET_TELEMETRY_PEER_ID="peer-a-telemetry"
+OMNISOCKET_TELEMETRY_INTERVAL_MS="1000"
+OMNISOCKET_TELEMETRY_STALE_AFTER_MS="3000"
+OMNI_NETWORK_SUMMARY_LOG_ENABLED="1"
+OMNI_NETWORK_SUMMARY_LOG_PATH="${OMNISOCKETGO_ROOT}/logs/a-network-summary.jsonl"
+OMNI_NETWORK_SUMMARY_LOG_INTERVAL_MS="5000"
+OMNI_NETWORK_SUMMARY_LOG_REQUEST_TIMEOUT_SEC="3"

 FRONTEND_HOST="0.0.0.0"
 FRONTEND_PORT="5173"
--- a/scripts/dev/start-backend.sh
+++ b/scripts/dev/start-backend.sh
@@ -16,4 +16,38 @@ source "${PYTHON_VENV_PATH}/bin/activate"
 cd "${BACKEND_DIR}"
 export OMNISOCKET_SERVER_ADDR="${CONTROL_SIDE_OMNISOCKET_SERVER_ADDR}"
 export OMNISOCKET_RELAY_VIA="${CONTROL_SIDE_OMNISOCKET_RELAY_VIA}"
-exec python -m uvicorn config.asgi:application --host "${BACKEND_HOST}" --port "${BACKEND_PORT}"
+
+logger_pid=""
+
+cleanup() {
+  if [[ -n "${logger_pid}" ]]; then
+    kill "${logger_pid}" 2>/dev/null || true
+    wait "${logger_pid}" 2>/dev/null || true
+  fi
+}
+
+start_network_summary_logger() {
+  local logger_url
+  local logger_dir
+
+  if [[ "${OMNI_NETWORK_SUMMARY_LOG_ENABLED}" != "1" ]]; then
+    return
+  fi
+
+  logger_url="http://127.0.0.1:${BACKEND_PORT}/api/network/latest/"
+  logger_dir="$(dirname "${OMNI_NETWORK_SUMMARY_LOG_PATH}")"
+  mkdir -p "${logger_dir}"
+
+  python "${SCRIPT_DIR}/log-network-summary.py" \
+    --url "${logger_url}" \
+    --output "${OMNI_NETWORK_SUMMARY_LOG_PATH}" \
+    --interval-ms "${OMNI_NETWORK_SUMMARY_LOG_INTERVAL_MS}" \
+    --request-timeout-sec "${OMNI_NETWORK_SUMMARY_LOG_REQUEST_TIMEOUT_SEC}" &
+  logger_pid=$!
+  echo "[start-backend] network summary logger -> ${OMNI_NETWORK_SUMMARY_LOG_PATH} (${OMNI_NETWORK_SUMMARY_LOG_INTERVAL_MS} ms)" >&2
+}
+
+trap cleanup EXIT INT TERM
+
+start_network_summary_logger
+python -m uvicorn config.asgi:application --host "${BACKEND_HOST}" --port "${BACKEND_PORT}"