You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
50 lines
1.4 KiB
50 lines
1.4 KiB
6 years ago
|
#!/usr/bin/env python3
|
||
|
|
|
||
|
|
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.locationd.locationd import locationd_thread
|
||
|
|
from selfdrive.test.profiling.lib import SubMaster, PubMaster, ReplayDone
|
||
|
|
|
||
|
|
BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
|
||
|
|
|
||
|
|
CARS = {
|
||
|
|
'toyota': ("77611a1fac303767|2020-02-29--13-29-33/3", "TOYOTA COROLLA TSS2 2019"),
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
def get_inputs(msgs, process):
|
||
|
|
sub_socks = ['gpsLocationExternal', 'sensorEvents', 'cameraOdometry', 'liveCalibration', 'carState']
|
||
|
|
trigger = 'cameraOdometry'
|
||
|
|
|
||
|
|
sm = SubMaster(msgs, trigger, sub_socks)
|
||
|
|
pm = PubMaster()
|
||
|
|
return sm, pm
|
||
|
|
|
||
|
|
|
||
|
|
if __name__ == "__main__":
|
||
|
|
segment, fingerprint = CARS['toyota']
|
||
|
|
segment = segment.replace('|', '/')
|
||
|
|
rlog_url = f"{BASE_URL}{segment}/rlog.bz2"
|
||
|
|
msgs = list(LogReader(rlog_url))
|
||
|
|
|
||
|
|
# Statistical
|
||
|
|
sm, pm = get_inputs(msgs, 'locationd')
|
||
|
|
with pprofile.StatisticalProfile()(period=0.00001) as pr:
|
||
|
|
try:
|
||
|
|
locationd_thread(sm, pm)
|
||
|
|
except ReplayDone:
|
||
|
|
pass
|
||
|
|
pr.dump_stats('cachegrind.out.locationd_statistical')
|
||
|
|
|
||
|
|
# Deterministic
|
||
|
|
sm, pm = get_inputs(msgs, 'controlsd')
|
||
|
|
with cProfile.Profile() as pr:
|
||
|
|
try:
|
||
|
|
locationd_thread(sm, pm)
|
||
|
|
except ReplayDone:
|
||
|
|
pass
|
||
|
|
pyprof2calltree.convert(pr.getstats(), 'cachegrind.out.locationd_deterministic')
|