CAN messages in plotjugger across different buses has timing that doesn't make sense

[gregjhogan]

I noticed the hyundai car controller when using hyundai longitudinal the enabled flag can get out of sync with controls state
Depending on what bus you look at, the same message can appear to have very different timing (large enough that it cannot just be how long it took to send a message, see comments below)

example: 5decac85ab437ed1|2021-12-24--12-48-45--75

Note how we continue to send non-zero ACC commands for a short period of time after brake press (although the brake controller already disabled on the brake press)

[gregjhogan]

looking at the code, I didn't understand how this is possible, so I looked in cabana and it seems things do line up

perhaps this is a plotjuggler issue?

[adeebshihadeh]

Double check with matplotlib and open an issue on plotjuggler?

[gregjhogan]

It could be how we load the data for plotjuggler, for example accurate timing requires proper use of the bus time for each CAN message that rolls over frequently, which I know cabana does found here.

[gregjhogan]

Actually my plot from cabana wasn't even the same bus (128 vs 0) and since the message was sent by openpilot bus 128 makes sense and bus 0 for this message doesn't even show up in cabana. If this bus 0 message is real I can't think of a way cabana could filter it out, so I am not sure what is going on.

so it seems like this an issue with something to do with how we process the data for plotjuggler

[jyoung8607]

It could be how we load the data for plotjuggler, for example accurate timing requires proper use of the bus time for each CAN message that rolls over frequently, which I know cabana does found here.

I haven't looked into the underlying code at all, but commaai/cabana#79 may be of interest to you, insofar as busTime (or lack thereof after the recent major Panda refactor) might affect your results in either PlotJuggler or Cabana.

[gregjhogan]

I see in the log that the messages are on bus 0 and 128 and the bus time is always zero

--
    ( address = 1057,
      busTime = 0,
      dat = "\000 \000\xf7\xe3~\000\x8a",
      src = 0 ),
--
    ( address = 1057,
      busTime = 0,
      dat = "\000 \000\xf7\xe3~\000\x8a",
      src = 128 ),
--

[gregjhogan]

bus 0 messages for this address only seem to be from sendcan (this probably explains why they do not show up in cabana) so not sure why they show up at all under can not to mention with different timing in plotjugger.

here is the data from the log for can and sendcan filtered by addr 1057 and the time slice in the above screenshot (notice no transition between 56.0 and 56.1 seconds)

55.603024 bus=128 addr=0x421 data=002000bb625700f5 source=can
55.614478 bus=  0 addr=0x421 data=002000ab62550016 source=sendcan
55.621317 bus=128 addr=0x421 data=002000ab62550016 source=can
55.633868 bus=  0 addr=0x421 data=002000ab62550007 source=sendcan
55.642895 bus=128 addr=0x421 data=002000ab62550007 source=can
55.655103 bus=  0 addr=0x421 data=002000ab625500f8 source=sendcan
55.661959 bus=128 addr=0x421 data=002000ab625500f8 source=can
55.674516 bus=  0 addr=0x421 data=002000a1225400d9 source=sendcan
55.681444 bus=128 addr=0x421 data=002000a1225400d9 source=can
55.695227 bus=  0 addr=0x421 data=002000a1225400ca source=sendcan
55.702867 bus=128 addr=0x421 data=002000a1225400ca source=can
55.714826 bus=  0 addr=0x421 data=002000a1225400bb source=sendcan
55.722013 bus=128 addr=0x421 data=002000a1225400bb source=can
55.733941 bus=  0 addr=0x421 data=000000ffe37f00fc source=sendcan
55.741721 bus=128 addr=0x421 data=000000ffe37f00fc source=can
55.755641 bus=  0 addr=0x421 data=000000ffe37f00ed source=sendcan
55.762383 bus=128 addr=0x421 data=000000ffe37f00ed source=can
55.774198 bus=  0 addr=0x421 data=000000ffe37f00de source=sendcan
55.782004 bus=128 addr=0x421 data=000000ffe37f00de source=can
55.794491 bus=  0 addr=0x421 data=000000ffe37f00b0 source=sendcan
55.802587 bus=128 addr=0x421 data=000000ffe37f00b0 source=can
55.814081 bus=  0 addr=0x421 data=000000ffe37f00a1 source=sendcan
55.822130 bus=128 addr=0x421 data=000000ffe37f00a1 source=can
55.833281 bus=  0 addr=0x421 data=000000ffe37f0092 source=sendcan
55.842555 bus=128 addr=0x421 data=000000ffe37f0092 source=can
55.855456 bus=  0 addr=0x421 data=000000ffe37f0083 source=sendcan
55.861767 bus=128 addr=0x421 data=000000ffe37f0083 source=can
55.874868 bus=  0 addr=0x421 data=000000ffe37f0074 source=sendcan
55.881948 bus=128 addr=0x421 data=000000ffe37f0074 source=can
55.893623 bus=  0 addr=0x421 data=000000ffe37f0065 source=sendcan
55.902992 bus=128 addr=0x421 data=000000ffe37f0065 source=can
55.914895 bus=  0 addr=0x421 data=000000ffe37f0056 source=sendcan
55.921388 bus=128 addr=0x421 data=000000ffe37f0056 source=can
55.934119 bus=  0 addr=0x421 data=000000ffe37f0047 source=sendcan
55.942243 bus=128 addr=0x421 data=000000ffe37f0047 source=can
55.955379 bus=  0 addr=0x421 data=000000ffe37f0038 source=sendcan
55.961892 bus=128 addr=0x421 data=000000ffe37f0038 source=can
55.974387 bus=  0 addr=0x421 data=000000ffe37f0029 source=sendcan
55.981184 bus=128 addr=0x421 data=000000ffe37f0029 source=can
55.995517 bus=  0 addr=0x421 data=000000ffe37f001a source=sendcan
56.003003 bus=128 addr=0x421 data=000000ffe37f001a source=can
56.014389 bus=  0 addr=0x421 data=000000ffe37f000b source=sendcan
56.022240 bus=128 addr=0x421 data=000000ffe37f000b source=can
56.033800 bus=  0 addr=0x421 data=000000ffe37f00fc source=sendcan
56.041640 bus=128 addr=0x421 data=000000ffe37f00fc source=can
56.055636 bus=  0 addr=0x421 data=000000ffe37f00ed source=sendcan
56.062508 bus=128 addr=0x421 data=000000ffe37f00ed source=can
56.073903 bus=  0 addr=0x421 data=000000ffe37f00de source=sendcan
56.081997 bus=128 addr=0x421 data=000000ffe37f00de source=can
56.094858 bus=  0 addr=0x421 data=000000ffe37f00b0 source=sendcan

[sshane]

Resolved by commaai/PlotJuggler#40