run both deterministic and statistical profiler

old-commit-hash: b3e7d94303

Pipfile

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:94e2c66a6fa302e7647173231d4216d592804d511959ebce167ee9fa1aecfeb0
-size 2037
+oid sha256:828a9452e8ceddbc4f4eb34173f1f5950965f39362bd3e0abe889b8840511718
+size 2052

Pipfile.lock

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b54f699108a7a9df59fd5b98f505426c8b81860dbe3a6b1a50d55729deb24079
-size 164420
+oid sha256:de11e37ffe851437b67ec038f9a938a6e562bc6cafd762b048f1f3ad81b452af
+size 164644

selfdrive/test/profiling/.gitignore

@@ -1 +1,2 @@
 cachegrind.out.*
+*.prof

selfdrive/test/profiling/controlsd.py

@@ -1,14 +1,13 @@
 #!/usr/bin/env python3
 
 import cProfile
-
+import pprofile
 import pyprof2calltree
 
 from tools.lib.logreader import LogReader
 from selfdrive.controls.controlsd import controlsd_thread
 from selfdrive.test.profiling.lib import SubMaster, PubMaster, SubSocket, ReplayDone
 
-
 BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 SEGMENT = "99c94dc769b5d96e|2019-08-03--14-19-59/2"
 
@@ -22,10 +21,22 @@ if __name__ == "__main__":
   sm = SubMaster(msgs, 'can', ['thermal', 'health', 'liveCalibration', 'dMonitoringState', 'plan', 'pathPlan', 'model'])
   can_sock = SubSocket(msgs, 'can')
 
-  with cProfile.Profile() as pr:
+  # Statistical
+  with pprofile.StatisticalProfile()(period=0.00001) as pr:
     try:
       controlsd_thread(sm, pm, can_sock)
     except ReplayDone:
       pass
+  pr.dump_stats('cachegrind.out.controlsd_statistical')
+
+  # Deterministic
+  pm = PubMaster(['sendcan', 'controlsState', 'carState', 'carControl', 'carEvents', 'carParams'])
+  sm = SubMaster(msgs, 'can', ['thermal', 'health', 'liveCalibration', 'dMonitoringState', 'plan', 'pathPlan', 'model'])
+  can_sock = SubSocket(msgs, 'can')
 
-  pyprof2calltree.convert(pr.getstats(), 'cachegrind.out.controlsd')
+  with cProfile.Profile() as pr:
+    try:
+      controlsd_thread(sm, pm, can_sock)
+    except ReplayDone:
+      pass
+  pyprof2calltree.convert(pr.getstats(), 'cachegrind.out.controlsd_deterministic')