From 6315957cf4b79a05a06e03dae93ed17c18d3d234 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 6 Jan 2024 16:20:28 -0800
Subject: [PATCH] remove common.profiler (#30927)

* remove common.profiler

* cleanup
old-commit-hash: f0ccb84ae3ed890fdf5610573a8b8882f4e29d3e
---
 common/profiler.py              | 45 ---------------------------------
 selfdrive/controls/controlsd.py |  9 -------
 2 files changed, 54 deletions(-)
 delete mode 100644 common/profiler.py

diff --git a/common/profiler.py b/common/profiler.py
deleted file mode 100644
index 8b1a7a8cfa..0000000000
--- a/common/profiler.py
+++ /dev/null
@@ -1,45 +0,0 @@
-import time
-
-class Profiler():
-  def __init__(self, enabled=False):
-    self.enabled = enabled
-    self.cp = {}
-    self.cp_ignored = []
-    self.iter = 0
-    self.start_time = time.time()
-    self.last_time = self.start_time
-    self.tot = 0.
-
-  def reset(self, enabled=False):
-    self.enabled = enabled
-    self.cp = {}
-    self.cp_ignored = []
-    self.iter = 0
-    self.start_time = time.time()
-    self.last_time = self.start_time
-
-  def checkpoint(self, name, ignore=False):
-    # ignore flag needed when benchmarking threads with ratekeeper
-    if not self.enabled:
-      return
-    tt = time.time()
-    if name not in self.cp:
-      self.cp[name] = 0.
-      if ignore:
-        self.cp_ignored.append(name)
-    self.cp[name] += tt - self.last_time
-    if not ignore:
-      self.tot += tt - self.last_time
-    self.last_time = tt
-
-  def display(self):
-    if not self.enabled:
-      return
-    self.iter += 1
-    print("******* Profiling %d *******" % self.iter)
-    for n, ms in sorted(self.cp.items(), key=lambda x: -x[1]):
-      if n in self.cp_ignored:
-        print("%30s: %9.2f  avg: %7.2f  percent: %3.0f   IGNORED" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
-      else:
-        print("%30s: %9.2f  avg: %7.2f  percent: %3.0f" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
-    print(f"Iter clock: {self.tot / self.iter:2.6f}   TOTAL: {self.tot:2.2f}")
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 46a0b7f462..698c149515 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -8,7 +8,6 @@ from typing import SupportsFloat
 from cereal import car, log
 from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
-from openpilot.common.profiler import Profiler
 from openpilot.common.params import Params
 import cereal.messaging as messaging
 from cereal.visionipc import VisionIpcClient, VisionStreamType
@@ -195,7 +194,6 @@ class Controls:
 
     # controlsd is driven by can recv, expected at 100Hz
     self.rk = Ratekeeper(100, print_delay_threshold=None)
-    self.prof = Profiler(False)  # off by default
 
   def set_initial_state(self):
     if REPLAY:
@@ -851,12 +849,10 @@ class Controls:
 
   def step(self):
     start_time = time.monotonic()
-    self.prof.checkpoint("Ratekeeper", ignore=True)
 
     # Sample data from sockets and get a carState
     CS = self.data_sample()
     cloudlog.timestamp("Data sampled")
-    self.prof.checkpoint("Sample")
 
     self.update_events(CS)
     cloudlog.timestamp("Events updated")
@@ -864,16 +860,12 @@ class Controls:
     if not self.CP.passive and self.initialized:
       # Update control state
       self.state_transition(CS)
-      self.prof.checkpoint("State transition")
 
     # Compute actuators (runs PID loops and lateral MPC)
     CC, lac_log = self.state_control(CS)
 
-    self.prof.checkpoint("State Control")
-
     # Publish data
     self.publish_logs(CS, start_time, CC, lac_log)
-    self.prof.checkpoint("Sent")
 
     self.CS_prev = CS
 
@@ -893,7 +885,6 @@ class Controls:
       while True:
         self.step()
         self.rk.monitor_time()
-        self.prof.display()
     except SystemExit:
       e.set()
       t.join()