diff --git a/packages/SystemUI/src/com/android/systemui/LatencyTracker.java b/packages/SystemUI/src/com/android/systemui/LatencyTracker.java
new file mode 100644
index 0000000..e0ec113
--- /dev/null
+++ b/packages/SystemUI/src/com/android/systemui/LatencyTracker.java
@@ -0,0 +1,110 @@
+/*
+ * Copyright (C) 2016 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License
+ */
+
+package com.android.systemui;
+
+import android.content.BroadcastReceiver;
+import android.content.Context;
+import android.content.Intent;
+import android.content.IntentFilter;
+import android.os.Build;
+import android.os.Handler;
+import android.os.SystemClock;
+import android.os.SystemProperties;
+import android.os.Trace;
+import android.util.Log;
+import android.util.SparseLongArray;
+
+/**
+ * Class to track various latencies in SystemUI. It then outputs the latency to logcat so these
+ * latencies can be captured by tests and then used for dashboards.
+ */
+public class LatencyTracker {
+
+    private static final String ACTION_RELOAD_PROPERTY =
+            "com.android.systemui.RELOAD_LATENCY_TRACKER_PROPERTY";
+
+    private static final String TAG = "LatencyTracker";
+
+    public static final int ACTION_EXPAND_PANEL = 0;
+    public static final int ACTION_TOGGLE_RECENTS = 1;
+
+    private static final String[] NAMES = new String[] {
+            "expand panel",
+            "toggle recents" };
+
+    private static LatencyTracker sLatencyTracker;
+
+    private final SparseLongArray mStartRtc = new SparseLongArray();
+    private boolean mEnabled;
+
+    public static LatencyTracker getInstance(Context context) {
+        if (sLatencyTracker == null) {
+            sLatencyTracker = new LatencyTracker(context);
+        }
+        return sLatencyTracker;
+    }
+
+    private LatencyTracker(Context context) {
+        context.registerReceiver(new BroadcastReceiver() {
+            @Override
+            public void onReceive(Context context, Intent intent) {
+                reloadProperty();
+            }
+        }, new IntentFilter(ACTION_RELOAD_PROPERTY));
+        reloadProperty();
+    }
+
+    private void reloadProperty() {
+        mEnabled = SystemProperties.getBoolean("debug.systemui.latency_tracking", false);
+    }
+
+    public static boolean isEnabled(Context ctx) {
+        return Build.IS_DEBUGGABLE && getInstance(ctx).mEnabled;
+    }
+
+    /**
+     * Notifies that an action is starting. This needs to be called from the main thread.
+     *
+     * @param action The action to start. One of the ACTION_* values.
+     */
+    public void onActionStart(int action) {
+        if (!mEnabled) {
+            return;
+        }
+        Trace.asyncTraceBegin(Trace.TRACE_TAG_APP, NAMES[action], 0);
+        mStartRtc.put(action, SystemClock.elapsedRealtime());
+    }
+
+    /**
+     * Notifies that an action has ended. This needs to be called from the main thread.
+     *
+     * @param action The action to end. One of the ACTION_* values.
+     */
+    public void onActionEnd(int action) {
+        if (!mEnabled) {
+            return;
+        }
+        long endRtc = SystemClock.elapsedRealtime();
+        long startRtc = mStartRtc.get(action, -1);
+        if (startRtc == -1) {
+            return;
+        }
+        Trace.asyncTraceEnd(Trace.TRACE_TAG_APP, NAMES[action], 0);
+        long duration = endRtc - startRtc;
+        Log.i(TAG, "action=" + action + " latency=" + duration);
+    }
+}
diff --git a/packages/SystemUI/src/com/android/systemui/recents/RecentsActivity.java b/packages/SystemUI/src/com/android/systemui/recents/RecentsActivity.java
index 7bdb1c4..784d2ba 100644
--- a/packages/SystemUI/src/com/android/systemui/recents/RecentsActivity.java
+++ b/packages/SystemUI/src/com/android/systemui/recents/RecentsActivity.java
@@ -40,7 +40,9 @@
 
 import com.android.internal.logging.MetricsLogger;
 import com.android.internal.logging.MetricsProto.MetricsEvent;
+import com.android.systemui.DejankUtils;
 import com.android.systemui.Interpolators;
+import com.android.systemui.LatencyTracker;
 import com.android.systemui.Prefs;
 import com.android.systemui.R;
 import com.android.systemui.recents.events.EventBus;
@@ -187,6 +189,11 @@
                 public boolean onPreDraw() {
                     mRecentsView.getViewTreeObserver().removeOnPreDrawListener(this);
                     EventBus.getDefault().post(new RecentsDrawnEvent());
+                    if (LatencyTracker.isEnabled(getApplicationContext())) {
+                        DejankUtils.postAfterTraversal(() -> LatencyTracker.getInstance(
+                                getApplicationContext()).onActionEnd(
+                                LatencyTracker.ACTION_TOGGLE_RECENTS));
+                    }
                     return true;
                 }
             };
diff --git a/packages/SystemUI/src/com/android/systemui/statusbar/phone/PanelView.java b/packages/SystemUI/src/com/android/systemui/statusbar/phone/PanelView.java
index a6a5742..c6aec73 100644
--- a/packages/SystemUI/src/com/android/systemui/statusbar/phone/PanelView.java
+++ b/packages/SystemUI/src/com/android/systemui/statusbar/phone/PanelView.java
@@ -23,6 +23,7 @@
 import android.content.Context;
 import android.content.res.Configuration;
 import android.content.res.Resources;
+import android.os.Trace;
 import android.util.AttributeSet;
 import android.util.Log;
 import android.view.InputDevice;
@@ -32,9 +33,11 @@
 import android.view.animation.Interpolator;
 import android.widget.FrameLayout;
 
+import com.android.systemui.DejankUtils;
 import com.android.systemui.EventLogConstants;
 import com.android.systemui.EventLogTags;
 import com.android.systemui.Interpolators;
+import com.android.systemui.LatencyTracker;
 import com.android.systemui.R;
 import com.android.systemui.classifier.FalsingManager;
 import com.android.systemui.doze.DozeLog;
@@ -115,6 +118,7 @@
     protected boolean mExpanding;
     private boolean mGestureWaitForTouchSlop;
     private boolean mIgnoreXTouchSlop;
+    private boolean mExpandLatencyTracking;
     private Runnable mPeekRunnable = new Runnable() {
         @Override
         public void run() {
@@ -215,6 +219,14 @@
         }
     }
 
+    public void startExpandLatencyTracking() {
+        if (LatencyTracker.isEnabled(mContext)) {
+            LatencyTracker.getInstance(mContext).onActionStart(
+                    LatencyTracker.ACTION_EXPAND_PANEL);
+            mExpandLatencyTracking = true;
+        }
+    }
+
     @Override
     public boolean onTouchEvent(MotionEvent event) {
         if (mInstantExpanding || mTouchDisabled
@@ -739,6 +751,11 @@
     }
 
     public void setExpandedHeightInternal(float h) {
+        if (mExpandLatencyTracking && h != 0f) {
+            DejankUtils.postAfterTraversal(() -> LatencyTracker.getInstance(mContext).onActionEnd(
+                    LatencyTracker.ACTION_EXPAND_PANEL));
+            mExpandLatencyTracking = false;
+        }
         float fhWithoutOverExpansion = getMaxPanelHeight() - getOverExpansionAmount();
         if (mHeightAnimator == null) {
             float overExpansionPixels = Math.max(0, h - fhWithoutOverExpansion);
diff --git a/packages/SystemUI/src/com/android/systemui/statusbar/phone/PhoneStatusBar.java b/packages/SystemUI/src/com/android/systemui/statusbar/phone/PhoneStatusBar.java
index a07b695..9d18b50 100644
--- a/packages/SystemUI/src/com/android/systemui/statusbar/phone/PhoneStatusBar.java
+++ b/packages/SystemUI/src/com/android/systemui/statusbar/phone/PhoneStatusBar.java
@@ -132,6 +132,7 @@
 import com.android.systemui.EventLogConstants;
 import com.android.systemui.EventLogTags;
 import com.android.systemui.Interpolators;
+import com.android.systemui.LatencyTracker;
 import com.android.systemui.Prefs;
 import com.android.systemui.R;
 import com.android.systemui.SystemUIFactory;
@@ -1291,6 +1292,10 @@
     private View.OnClickListener mRecentsClickListener = new View.OnClickListener() {
         @Override
         public void onClick(View v) {
+            if (LatencyTracker.isEnabled(mContext)) {
+                LatencyTracker.getInstance(mContext).onActionStart(
+                        LatencyTracker.ACTION_TOGGLE_RECENTS);
+            }
             awakenDreams();
             toggleRecentApps();
         }
diff --git a/packages/SystemUI/src/com/android/systemui/statusbar/phone/StatusBarWindowView.java b/packages/SystemUI/src/com/android/systemui/statusbar/phone/StatusBarWindowView.java
index 47ea59e..4425c5e 100644
--- a/packages/SystemUI/src/com/android/systemui/statusbar/phone/StatusBarWindowView.java
+++ b/packages/SystemUI/src/com/android/systemui/statusbar/phone/StatusBarWindowView.java
@@ -33,6 +33,7 @@
 import android.net.Uri;
 import android.os.Bundle;
 import android.os.IBinder;
+import android.os.Trace;
 import android.util.AttributeSet;
 import android.view.ActionMode;
 import android.view.InputQueue;
@@ -225,6 +226,10 @@
 
     @Override
     public boolean dispatchTouchEvent(MotionEvent ev) {
+        if (ev.getActionMasked() == MotionEvent.ACTION_DOWN
+                && mNotificationPanel.getExpandedHeight() == 0f) {
+            mNotificationPanel.startExpandLatencyTracking();
+        }
         mFalsingManager.onTouchEvent(ev, getWidth(), getHeight());
         if (mBrightnessMirror != null && mBrightnessMirror.getVisibility() == VISIBLE) {
             // Disallow new pointers while the brightness mirror is visible. This is so that you