openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.

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#!/usr/bin/env python3
import os
import cProfile # pylint: disable=import-error
import pprofile # pylint: disable=import-error
import pyprof2calltree # pylint: disable=import-error
from tools.lib.logreader import LogReader
from selfdrive.controls.controlsd import main as controlsd_thread
from selfdrive.test.profiling.lib import SubMaster, PubMaster, SubSocket, ReplayDone
from selfdrive.test.process_replay.process_replay import CONFIGS
BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
CARS = {
'toyota': ("77611a1fac303767|2020-02-29--13-29-33/3", "TOYOTA COROLLA TSS2 2019"),
'honda': ("99c94dc769b5d96e|2019-08-03--14-19-59/2", "HONDA CIVIC 2016 TOURING"),
}
def get_inputs(msgs, process):
for config in CONFIGS:
if config.proc_name == process:
sub_socks = list(config.pub_sub.keys())
trigger = sub_socks[0]
break
sm = SubMaster(msgs, trigger, sub_socks)
pm = PubMaster()
can_sock = SubSocket(msgs, 'can')
return sm, pm, can_sock
if __name__ == "__main__":
segment, fingerprint = CARS['toyota']
segment = segment.replace('|', '/')
rlog_url = f"{BASE_URL}{segment}/rlog.bz2"
msgs = list(LogReader(rlog_url))
os.environ['FINGERPRINT'] = fingerprint
# Statistical
sm, pm, can_sock = get_inputs(msgs, 'controlsd')
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
sm, pm, can_sock = get_inputs(msgs, 'controlsd')
with cProfile.Profile() as pr:
try:
controlsd_thread(sm, pm, can_sock)
except ReplayDone:
pass
pyprof2calltree.convert(pr.getstats(), 'cachegrind.out.controlsd_deterministic')