Reduce plannerd and dmonitoringd CPU usage (#2108)

* fix wasted cycles in locationd and dmonitoringd

* bump cereal

* calibrationd

* Revert "calibrationd"

This reverts commit 580051a33bc96e1e83300629e9c04817928d0851.

* this is cleaner

* calibrationd

* paramsd is driven by liveLocationKalman

* only log params once a minute

* stricter CPU usage test

* revert locationd for now

* revert calibrationd too

* revert thresholds

cereal

@@ -1 +1 @@
-Subproject commit 1538183eaa3c9a22a3e675182d6e1cc8e23ad574
+Subproject commit 626679d1a56c689cbad7bf99a08c5ecbf9d073fb

selfdrive/controls/plannerd.py

@@ -27,7 +27,8 @@ def plannerd_thread(sm=None, pm=None):
   VM = VehicleModel(CP)
 
   if sm is None:
-    sm = messaging.SubMaster(['carState', 'controlsState', 'radarState', 'model', 'liveParameters'])
+    sm = messaging.SubMaster(['carState', 'controlsState', 'radarState', 'model', 'liveParameters'],
+                             poll=['radarState', 'model'])
 
   if pm is None:
     pm = messaging.PubMaster(['plan', 'liveLongitudinalMpc', 'pathPlan', 'liveMpc'])

selfdrive/monitoring/dmonitoringd.py

@@ -18,7 +18,7 @@ def dmonitoringd_thread(sm=None, pm=None):
     pm = messaging.PubMaster(['dMonitoringState'])
 
   if sm is None:
-    sm = messaging.SubMaster(['driverState', 'liveCalibration', 'carState', 'model'])
+    sm = messaging.SubMaster(['driverState', 'liveCalibration', 'carState', 'model'], poll=['driverState'])
 
   driver_status = DriverStatus()
   driver_status.is_rhd_region = Params().get("IsRHD") == b"1"
@@ -57,7 +57,6 @@ def dmonitoringd_thread(sm=None, pm=None):
       driver_status.set_policy(sm['model'])
 
     # Get data from dmonitoringmodeld
-    if sm.updated['driverState']:
     events = Events()
     driver_status.get_pose(sm['driverState'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['carState'].cruiseState.enabled)
 

selfdrive/test/test_cpu_usage.py

@@ -16,21 +16,21 @@ def cputime_total(ct):
 def print_cpu_usage(first_proc, last_proc):
   procs = [
     ("selfdrive.controls.controlsd", 66.15),
-    ("selfdrive.locationd.locationd", 34.38),
     ("./loggerd", 33.90),
-    ("selfdrive.controls.plannerd", 19.77),
+    ("selfdrive.locationd.locationd", 29.5),
-    ("./_modeld", 12.74),
+    ("selfdrive.controls.plannerd", 11.84),
     ("selfdrive.locationd.paramsd", 11.53),
+    ("./_modeld", 7.12),
     ("selfdrive.controls.radard", 9.54),
     ("./_ui", 9.54),
     ("./camerad", 7.07),
-    ("selfdrive.locationd.calibrationd", 6.81),
     ("./_sensord", 6.17),
-    ("selfdrive.monitoring.dmonitoringd", 5.48),
+    ("selfdrive.locationd.calibrationd", 6.0),
     ("./boardd", 3.63),
     ("./_dmonitoringmodeld", 2.67),
     ("selfdrive.logmessaged", 2.71),
     ("selfdrive.thermald.thermald", 2.41),
+    ("selfdrive.monitoring.dmonitoringd", 1.90),
     ("./proclogd", 1.54),
     ("./_gpsd", 0.09),
     ("./clocksd", 0.02),
@@ -51,7 +51,7 @@ def print_cpu_usage(first_proc, last_proc):
       if cpu_usage > max(normal_cpu_usage * 1.1, normal_cpu_usage + 5.0):
         result += f"Warning {proc_name} using more CPU than normal\n"
         r = False
-      elif cpu_usage < min(normal_cpu_usage * 0.3, max(normal_cpu_usage - 1.0, 0.0)):
+      elif cpu_usage < min(normal_cpu_usage * 0.65, max(normal_cpu_usage - 1.0, 0.0)):
         result += f"Warning {proc_name} using less CPU than normal\n"
         r = False
       result += f"{proc_name.ljust(35)}  {cpu_usage:.2f}%\n"