limingjie/robot-command-center
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

fix: 前后端时钟问题

Browse Source
This commit is contained in:
Mock
2026-04-18 16:07:28 +08:00
parent 557590f2bf
commit f49582536b
4 changed files with 56 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
backend/monitoring/telemetry.py
View File

@@ -677,9 +677,9 @@ class NetworkTelemetryService:
d_to_b_video = _coerce_float(d_to_b_video_raw) if d_to_b_video_raw is not None else None
ack_estimate = self._control_ack_tracker.get_latest_estimate()
capture_to_send_raw = video_receiver_status.get("latest_capture_to_send_ms")
a_recv_to_paint_raw = display_probe_status.get("a_recv_to_paint_ms")
request_to_paint_raw = display_probe_status.get("request_to_paint_ms")
capture_to_send_ms = _coerce_float(capture_to_send_raw) if capture_to_send_raw is not None else None
a_recv_to_paint_ms = _coerce_float(a_recv_to_paint_raw) if a_recv_to_paint_raw is not None else None
request_to_paint_ms = _coerce_float(request_to_paint_raw) if request_to_paint_raw is not None else None
video_network_oneway_est_ms = (
round((a_to_d_video + d_to_b_video) / 2.0, 3)
if a_to_d_video is not None and d_to_b_video is not None
@@ -689,8 +689,8 @@ class NetworkTelemetryService:
if capture_to_send_ms is not None and video_network_oneway_est_ms is not None:
video_partial_est_ms = round(capture_to_send_ms + video_network_oneway_est_ms, 3)
video_e2e_est_ms = None
if video_partial_est_ms is not None and a_recv_to_paint_ms is not None:
video_e2e_est_ms = round(video_partial_est_ms + a_recv_to_paint_ms, 3)
if video_partial_est_ms is not None and request_to_paint_ms is not None:
video_e2e_est_ms = round(video_partial_est_ms + request_to_paint_ms, 3)
return {
"control_loop_rtt_ms": ack_estimate.get("control_loop_rtt_ms"),
@@ -710,7 +710,7 @@ class NetworkTelemetryService:
"video_e2e_est_ms": video_e2e_est_ms,
"estimate_method": {
"control": "ack_loop" if ack_estimate.get("ack_available") else "srtt_fallback",
"video": "capture_to_send+srtt/2+recv_to_paint" if video_e2e_est_ms is not None else "capture_to_send+srtt/2",
"video": "capture_to_send+srtt/2+request_to_paint" if video_e2e_est_ms is not None else "capture_to_send+srtt/2",
},
"clock_sync_required": False,
"assumptions": [

45
backend/monitoring/video.py
View File

@@ -48,18 +48,27 @@ class VideoDisplayProbeStore:
input_to_next_fresh_frame_ms=None,
input_to_next_changed_frame_ms=None,
input_to_next_paint_ms=None,
a_recv_to_paint_ms=None,
request_to_paint_ms=None,
response_to_paint_ms=None,
backend_to_request_ms=None,
backend_to_paint_ms_raw=None,
)
def record_event(self, payload: dict[str, Any]) -> None:
backend_received_unix_ns = payload.get("backend_received_unix_ns")
request_started_unix_ms = payload.get("request_started_unix_ms")
response_received_unix_ms = payload.get("response_received_unix_ms")
paint_unix_ms = payload.get("paint_unix_ms")
a_recv_to_paint_ms = None
request_to_paint_ms = self._duration_ms(paint_unix_ms, request_started_unix_ms, clamp_floor_zero=True)
response_to_paint_ms = self._duration_ms(paint_unix_ms, response_received_unix_ms, clamp_floor_zero=True)
backend_received_unix_ms = None
try:
if backend_received_unix_ns is not None and paint_unix_ms is not None:
a_recv_to_paint_ms = round(float(paint_unix_ms) - (int(backend_received_unix_ns) / 1_000_000.0), 3)
if backend_received_unix_ns is not None:
backend_received_unix_ms = int(backend_received_unix_ns) / 1_000_000.0
except (TypeError, ValueError):
a_recv_to_paint_ms = None
backend_received_unix_ms = None
backend_to_request_ms = self._duration_ms(request_started_unix_ms, backend_received_unix_ms, clamp_floor_zero=False)
backend_to_paint_ms_raw = self._duration_ms(paint_unix_ms, backend_received_unix_ms, clamp_floor_zero=False)
status = VideoDisplayProbeStatus(
updated_at=str(payload.get("updated_at") or ""),
@@ -68,7 +77,10 @@ class VideoDisplayProbeStore:
input_to_next_fresh_frame_ms=self._coerce_float(payload.get("input_to_next_fresh_frame_ms")),
input_to_next_changed_frame_ms=self._coerce_float(payload.get("input_to_next_changed_frame_ms")),
input_to_next_paint_ms=self._coerce_float(payload.get("input_to_next_paint_ms")),
a_recv_to_paint_ms=a_recv_to_paint_ms,
request_to_paint_ms=request_to_paint_ms,
response_to_paint_ms=response_to_paint_ms,
backend_to_request_ms=backend_to_request_ms,
backend_to_paint_ms_raw=backend_to_paint_ms_raw,
)
with self._lock:
self._latest = status
@@ -84,7 +96,10 @@ class VideoDisplayProbeStore:
"input_to_next_fresh_frame_ms": latest.input_to_next_fresh_frame_ms,
"input_to_next_changed_frame_ms": latest.input_to_next_changed_frame_ms,
"input_to_next_paint_ms": latest.input_to_next_paint_ms,
"a_recv_to_paint_ms": latest.a_recv_to_paint_ms,
"request_to_paint_ms": latest.request_to_paint_ms,
"response_to_paint_ms": latest.response_to_paint_ms,
"backend_to_request_ms": latest.backend_to_request_ms,
"backend_to_paint_ms_raw": latest.backend_to_paint_ms_raw,
}
def close(self) -> None:
@@ -99,6 +114,17 @@ class VideoDisplayProbeStore:
except (TypeError, ValueError):
return None
@classmethod
def _duration_ms(cls, end_ms: Any, start_ms: Any, *, clamp_floor_zero: bool) -> float | None:
end_value = cls._coerce_float(end_ms)
start_value = cls._coerce_float(start_ms)
if end_value is None or start_value is None:
return None
delta = round(end_value - start_value, 3)
if clamp_floor_zero:
delta = max(0.0, delta)
return delta
@dataclass(frozen=True)
class FrameTrailerMetadata:
@@ -123,7 +149,10 @@ class VideoDisplayProbeStatus:
input_to_next_fresh_frame_ms: float | None
input_to_next_changed_frame_ms: float | None
input_to_next_paint_ms: float | None
a_recv_to_paint_ms: float | None
request_to_paint_ms: float | None
response_to_paint_ms: float | None
backend_to_request_ms: float | None
backend_to_paint_ms_raw: float | None
class OmniSocketVideoReceiver: