From 642175eb32dcaa122c087d6fb2db6d86babaec2c Mon Sep 17 00:00:00 2001 From: Joost Wooning Date: Thu, 11 Nov 2021 12:21:27 +0100 Subject: [PATCH] undo profiling --- .../acados_template/acados_ocp_solver_pyx.pyx | 2 +- selfdrive/controls/plannerd.py | 27 ++++++------------- 2 files changed, 9 insertions(+), 20 deletions(-) diff --git a/pyextra/acados_template/acados_ocp_solver_pyx.pyx b/pyextra/acados_template/acados_ocp_solver_pyx.pyx index b14c37f409..7af6485383 100644 --- a/pyextra/acados_template/acados_ocp_solver_pyx.pyx +++ b/pyextra/acados_template/acados_ocp_solver_pyx.pyx @@ -32,7 +32,7 @@ # POSSIBILITY OF SUCH DAMAGE.; # # cython: language_level=3 -# cython: profile=True +# cython: profile=False # distutils: language=c cimport cython diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index 3c2ea7b5a6..88734b3c13 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -1,7 +1,4 @@ #!/usr/bin/env python3 -import pstats -import cProfile - from cereal import car from common.params import Params from common.realtime import Priority, config_realtime_process @@ -35,22 +32,14 @@ def plannerd_thread(sm=None, pm=None): if pm is None: pm = messaging.PubMaster(['longitudinalPlan', 'lateralPlan']) - with cProfile.Profile(builtins=False) as pr: - i = 0 - while True: - sm.update() - - if sm.updated['modelV2']: - lateral_planner.update(sm, CP) - lateral_planner.publish(sm, pm) - longitudinal_planner.update(sm, CP) - longitudinal_planner.publish(sm, pm) - - i+= 1 - if i == 80: - stats = pstats.Stats(pr) - stats.sort_stats('time') - stats.dump_stats('/tmp/plannerd_stats') + while True: + sm.update() + + if sm.updated['modelV2']: + lateral_planner.update(sm, CP) + lateral_planner.publish(sm, pm) + longitudinal_planner.update(sm, CP) + longitudinal_planner.publish(sm, pm) def main(sm=None, pm=None):