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Remove `setproctitle` (#32716)

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* Custom setproctitle (#32667)

* add custom setproctitle

* add test

* Update poetry.lock

* fix lint

* support only Linux

* test only Linux

* final lint

* Update test_setproctitle.py

* Update setproctitle.py

* convert to threadnames

* delete proctitles

* Check str len and use PR_GET_NAME

* fix poetry.lock

* lint fix

* Update common/threadname.py

---------

Co-authored-by: reddyn12 <nikhilr.ssm@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* revert that for now

* use last 15

* fix

* use name

* update those

* and modeld

* rm

---------

Co-authored-by: schlimeszn <138847413+schlimeszn@users.noreply.github.com>
Co-authored-by: reddyn12 <nikhilr.ssm@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>
pull/32724/head
Adeeb Shihadeh 11 months ago committed by GitHub
parent 81dc33e569
commit 83ac80c6c8
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
9 changed files with 61 additions and 137 deletions
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  1. 6
      common/realtime.py
  2. 8
      common/tests/test_threadname.py
  3. 19
      common/threadname.py
  4. 112
      poetry.lock
  5. 1
      pyproject.toml
  6. 4
      scripts/waste.py
  7. 12
      selfdrive/modeld/modeld.py
  8. 32
      selfdrive/test/test_onroad.py
  9. 4
      system/manager/process.py

6
common/realtime.py
Unescape View File

@ -4,7 +4,7 @@ import os
import time import time
from collections import deque from collections import deque
from setproctitle import getproctitle from openpilot.common.threadname import getthreadname
from openpilot.system.hardware import PC from openpilot.system.hardware import PC
@ -52,7 +52,7 @@ class Ratekeeper:
self._print_delay_threshold = print_delay_threshold self._print_delay_threshold = print_delay_threshold
self._frame = 0 self._frame = 0
self._remaining = 0.0 self._remaining = 0.0
self._process_name = getproctitle() self._thread_name = getthreadname()
self._dts = deque([self._interval], maxlen=100) self._dts = deque([self._interval], maxlen=100)
self._last_monitor_time = time.monotonic() self._last_monitor_time = time.monotonic()
@ -87,7 +87,7 @@ class Ratekeeper:
remaining = self._next_frame_time - time.monotonic() remaining = self._next_frame_time - time.monotonic()
self._next_frame_time += self._interval self._next_frame_time += self._interval
if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold: if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms") print(f"{self._thread_name} lagging by {-remaining * 1000:.2f} ms")
lagged = True lagged = True
self._frame += 1 self._frame += 1
self._remaining = remaining self._remaining = remaining

8
common/tests/test_threadname.py
Unescape View File

@ -0,0 +1,8 @@
from openpilot.common.threadname import setthreadname, getthreadname, LINUX
class TestThreadName:
def test_set_get_threadname(self):
if LINUX:
name = 'TESTING'
setthreadname(name)
assert name == getthreadname()

19
common/threadname.py
Unescape View File

@ -0,0 +1,19 @@
import ctypes
import os
LINUX = os.name == 'posix' and os.uname().sysname == 'Linux'
if LINUX:
libc = ctypes.CDLL('libc.so.6')
def setthreadname(name: str) -> None:
if LINUX:
name = name[-15:] + '\0'
libc.prctl(15, str.encode(name), 0, 0, 0)
def getthreadname() -> str:
if LINUX:
name = ctypes.create_string_buffer(16)
libc.prctl(16, name)
return name.value.decode('utf-8')
return ""

112
poetry.lock generated
Unescape View File

@ -1,4 +1,4 @@
# This file is automatically @generated by Poetry 1.7.0 and should not be changed by hand. # This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand.
[[package]] [[package]]
name = "aiohttp" name = "aiohttp"
@ -2730,7 +2730,6 @@ optional = false
python-versions = ">=3.6" python-versions = ">=3.6"
files = [ files = [
{file = "opencv-python-4.10.0.82.tar.gz", hash = "sha256:dbc021eaa310c4145c47cd648cb973db69bb5780d6e635386cd53d3ea76bd2d5"}, {file = "opencv-python-4.10.0.82.tar.gz", hash = "sha256:dbc021eaa310c4145c47cd648cb973db69bb5780d6e635386cd53d3ea76bd2d5"},
{file = "opencv_python-4.10.0.82-cp37-abi3-macosx_11_0_arm64.whl", hash = "sha256:5f78652339957ec24b80a782becfb32f822d2008a865512121fad8c3ce233e9a"},
{file = "opencv_python-4.10.0.82-cp37-abi3-macosx_12_0_x86_64.whl", hash = "sha256:e6be19a0615aa8c4e0d34e0c7b133e26e386f4b7e9b557b69479104ab2c133ec"}, {file = "opencv_python-4.10.0.82-cp37-abi3-macosx_12_0_x86_64.whl", hash = "sha256:e6be19a0615aa8c4e0d34e0c7b133e26e386f4b7e9b557b69479104ab2c133ec"},
{file = "opencv_python-4.10.0.82-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5b49e530f7fd86f671514b39ffacdf5d14ceb073bc79d0de46bbb6b0cad78eaf"}, {file = "opencv_python-4.10.0.82-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5b49e530f7fd86f671514b39ffacdf5d14ceb073bc79d0de46bbb6b0cad78eaf"},
{file = "opencv_python-4.10.0.82-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:955c5ce8ac90c9e4636ad7f5c0d9c75b80abbe347182cfd09b0e3eec6e50472c"}, {file = "opencv_python-4.10.0.82-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:955c5ce8ac90c9e4636ad7f5c0d9c75b80abbe347182cfd09b0e3eec6e50472c"},
@ -2740,8 +2739,8 @@ files = [
[package.dependencies] [package.dependencies]
numpy = [ numpy = [
{version = ">=1.23.5", markers = "python_version >= \"3.11\" and python_version < \"3.12\""},
{version = ">=1.26.0", markers = "python_version >= \"3.12\""}, {version = ">=1.26.0", markers = "python_version >= \"3.12\""},
{version = ">=1.23.5", markers = "python_version >= \"3.11\" and python_version < \"3.12\""},
] ]
[[package]] [[package]]
@ -2752,7 +2751,6 @@ optional = false
python-versions = ">=3.6" python-versions = ">=3.6"
files = [ files = [
{file = "opencv-python-headless-4.10.0.82.tar.gz", hash = "sha256:de9e742c1b9540816fbd115b0b03841d41ed0c65566b0d7a5371f98b131b7e6d"}, {file = "opencv-python-headless-4.10.0.82.tar.gz", hash = "sha256:de9e742c1b9540816fbd115b0b03841d41ed0c65566b0d7a5371f98b131b7e6d"},
{file = "opencv_python_headless-4.10.0.82-cp37-abi3-macosx_11_0_arm64.whl", hash = "sha256:a09ed50ba21cc5bf5d436cb0e784ad09c692d6b1d1454252772f6c8f2c7b4088"},
{file = "opencv_python_headless-4.10.0.82-cp37-abi3-macosx_12_0_x86_64.whl", hash = "sha256:977a5fd21e1fe0d3d2134887db4441f8725abeae95150126302f31fcd9f548fa"}, {file = "opencv_python_headless-4.10.0.82-cp37-abi3-macosx_12_0_x86_64.whl", hash = "sha256:977a5fd21e1fe0d3d2134887db4441f8725abeae95150126302f31fcd9f548fa"},
{file = "opencv_python_headless-4.10.0.82-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:db4ec6755838b0be12510bfc9ffb014779c612418f11f4f7e6f505c36124a3aa"}, {file = "opencv_python_headless-4.10.0.82-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:db4ec6755838b0be12510bfc9ffb014779c612418f11f4f7e6f505c36124a3aa"},
{file = "opencv_python_headless-4.10.0.82-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:10a37fa5276967ecf6eb297295b16b28b7a2eb3b568ca0ee469fb1a5954de298"}, {file = "opencv_python_headless-4.10.0.82-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:10a37fa5276967ecf6eb297295b16b28b7a2eb3b568ca0ee469fb1a5954de298"},
@ -2762,8 +2760,8 @@ files = [
[package.dependencies] [package.dependencies]
numpy = [ numpy = [
{version = ">=1.23.5", markers = "python_version >= \"3.11\" and python_version < \"3.12\""},
{version = ">=1.26.0", markers = "python_version >= \"3.12\""}, {version = ">=1.26.0", markers = "python_version >= \"3.12\""},
{version = ">=1.23.5", markers = "python_version >= \"3.11\" and python_version < \"3.12\""},
] ]
[[package]] [[package]]
@ -2927,8 +2925,8 @@ files = [
[package.dependencies] [package.dependencies]
numpy = [ numpy = [
{version = ">=1.23.2", markers = "python_version == \"3.11\""},
{version = ">=1.26.0", markers = "python_version >= \"3.12\""}, {version = ">=1.26.0", markers = "python_version >= \"3.12\""},
{version = ">=1.23.2", markers = "python_version == \"3.11\""},
] ]
python-dateutil = ">=2.8.2" python-dateutil = ">=2.8.2"
pytz = ">=2020.1" pytz = ">=2020.1"
@ -7367,106 +7365,6 @@ starlette = ["starlette (>=0.19.1)"]
starlite = ["starlite (>=1.48)"] starlite = ["starlite (>=1.48)"]
tornado = ["tornado (>=5)"] tornado = ["tornado (>=5)"]
[[package]]
name = "setproctitle"
version = "1.3.3"
description = "A Python module to customize the process title"
optional = false
python-versions = ">=3.7"
files = [
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]
[package.extras]
test = ["pytest"]
[[package]] [[package]]
name = "setuptools" name = "setuptools"
version = "70.0.0" version = "70.0.0"
@ -8114,4 +8012,4 @@ test = ["big-O", "importlib-resources", "jaraco.functools", "jaraco.itertools",
[metadata] [metadata]
lock-version = "2.0" lock-version = "2.0"
python-versions = ">=3.11, <3.13" python-versions = ">=3.11, <3.13"
content-hash = "c5654418f3c97420a4a2195b42ebfec250623b600658aae03385b2bcf4c058bd" content-hash = "b5c62b81368f0e972fbcf0dbb88746f3ae930ebdc171ad004c926f3588d1f244"

1
pyproject.toml
Unescape View File

@ -137,7 +137,6 @@ future-fstrings = "*"
# these should be removed # these should be removed
psutil = "*" psutil = "*"
timezonefinder = "*" # just used for nav ETA timezonefinder = "*" # just used for nav ETA
setproctitle = "*"
pycryptodome = "*" # used in updated/casync, panda, body, and a test pycryptodome = "*" # used in updated/casync, panda, body, and a test
[tool.poetry.group.dev.dependencies] [tool.poetry.group.dev.dependencies]

4
scripts/waste.py
Unescape View File

@ -3,7 +3,7 @@ import os
import time import time
import numpy as np import numpy as np
from multiprocessing import Process from multiprocessing import Process
from setproctitle import setproctitle from openpilot.common.threadname import setthreadname
def waste(core): def waste(core):
os.sched_setaffinity(0, [core,]) os.sched_setaffinity(0, [core,])
@ -16,7 +16,7 @@ def waste(core):
j = 0 j = 0
while 1: while 1:
if (i % 100) == 0: if (i % 100) == 0:
setproctitle("%3d: %8d" % (core, i)) setthreadname("%3d: %8d" % (core, i))
lt = time.monotonic() lt = time.monotonic()
print("%3d: %8d %f %.2f" % (core, i, lt-st, j)) print("%3d: %8d %f %.2f" % (core, i, lt-st, j))
st = lt st = lt

12
selfdrive/modeld/modeld.py
Unescape View File

@ -6,7 +6,7 @@ import numpy as np
import cereal.messaging as messaging import cereal.messaging as messaging
from cereal import car, log from cereal import car, log
from pathlib import Path from pathlib import Path
from setproctitle import setproctitle from openpilot.common.threadname import setthreadname
from cereal.messaging import PubMaster, SubMaster from cereal.messaging import PubMaster, SubMaster
from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
from openpilot.common.swaglog import cloudlog from openpilot.common.swaglog import cloudlog
@ -24,7 +24,7 @@ from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_
from openpilot.selfdrive.modeld.constants import ModelConstants from openpilot.selfdrive.modeld.constants import ModelConstants
from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext
PROCESS_NAME = "selfdrive.modeld.modeld" THREAD_NAME = "selfdrive.modeld.modeld"
SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
MODEL_PATHS = { MODEL_PATHS = {
@ -114,9 +114,9 @@ class ModelState:
def main(demo=False): def main(demo=False):
cloudlog.warning("modeld init") cloudlog.warning("modeld init")
sentry.set_tag("daemon", PROCESS_NAME) sentry.set_tag("daemon", THREAD_NAME)
cloudlog.bind(daemon=PROCESS_NAME) cloudlog.bind(daemon=THREAD_NAME)
setproctitle(PROCESS_NAME) setthreadname("modeld")
config_realtime_process(7, 54) config_realtime_process(7, 54)
cloudlog.warning("setting up CL context") cloudlog.warning("setting up CL context")
@ -286,7 +286,7 @@ if __name__ == "__main__":
args = parser.parse_args() args = parser.parse_args()
main(demo=args.demo) main(demo=args.demo)
except KeyboardInterrupt: except KeyboardInterrupt:
cloudlog.warning(f"child {PROCESS_NAME} got SIGINT") cloudlog.warning(f"child {THREAD_NAME} got SIGINT")
except Exception: except Exception:
sentry.capture_exception() sentry.capture_exception()
raise raise

32
selfdrive/test/test_onroad.py
Unescape View File

@ -36,26 +36,26 @@ PROCS = {
# Baseline CPU usage by process # Baseline CPU usage by process
"selfdrive.controls.controlsd": 32.0, "selfdrive.controls.controlsd": 32.0,
"selfdrive.car.card": 22.0, "selfdrive.car.card": 22.0,
"./loggerd": 14.0, "loggerd": 14.0,
"./encoderd": 17.0, "encoderd": 17.0,
"./camerad": 14.5, "camerad": 14.5,
"./locationd": 11.0, "locationd": 11.0,
"selfdrive.controls.plannerd": 11.0, "selfdrive.controls.plannerd": 11.0,
"./ui": 18.0, "ui": 18.0,
"selfdrive.locationd.paramsd": 9.0, "selfdrive.locationd.paramsd": 9.0,
"./sensord": 7.0, "sensord": 7.0,
"selfdrive.controls.radard": 7.0, "selfdrive.controls.radard": 7.0,
"selfdrive.modeld.modeld": 13.0, "modeld": 13.0,
"selfdrive.modeld.dmonitoringmodeld": 8.0, "selfdrive.modeld.dmonitoringmodeld": 8.0,
"system.hardware.hardwared": 3.87, "system.hardware.hardwared": 3.87,
"selfdrive.locationd.calibrationd": 2.0, "selfdrive.locationd.calibrationd": 2.0,
"selfdrive.locationd.torqued": 5.0, "selfdrive.locationd.torqued": 5.0,
"selfdrive.ui.soundd": 3.5, "selfdrive.ui.soundd": 3.5,
"selfdrive.monitoring.dmonitoringd": 4.0, "selfdrive.monitoring.dmonitoringd": 4.0,
"./proclogd": 1.54, "proclogd": 1.54,
"system.logmessaged": 0.2, "system.logmessaged": 0.2,
"system.tombstoned": 0, "system.tombstoned": 0,
"./logcatd": 0, "logcatd": 0,
"system.micd": 6.0, "system.micd": 6.0,
"system.timed": 0, "system.timed": 0,
"selfdrive.pandad.pandad": 0, "selfdrive.pandad.pandad": 0,
@ -67,12 +67,12 @@ PROCS = {
PROCS.update({ PROCS.update({
"tici": { "tici": {
"./pandad": 4.0, "pandad": 4.0,
"./ubloxd": 0.02, "ubloxd": 0.02,
"system.ubloxd.pigeond": 6.0, "system.ubloxd.pigeond": 6.0,
}, },
"tizi": { "tizi": {
"./pandad": 19.0, "pandad": 19.0,
"system.qcomgpsd.qcomgpsd": 1.0, "system.qcomgpsd.qcomgpsd": 1.0,
} }
}.get(HARDWARE.get_device_type(), {})) }.get(HARDWARE.get_device_type(), {}))
@ -247,8 +247,7 @@ class TestOnroad:
for pl in self.service_msgs['procLog']: for pl in self.service_msgs['procLog']:
for x in pl.procLog.procs: for x in pl.procLog.procs:
if len(x.cmdline) > 0: if len(x.cmdline) > 0:
n = list(x.cmdline)[0] plogs_by_proc[x.name].append(x)
plogs_by_proc[n].append(x)
print(plogs_by_proc.keys()) print(plogs_by_proc.keys())
cpu_ok = True cpu_ok = True
@ -256,8 +255,9 @@ class TestOnroad:
for proc_name, expected_cpu in PROCS.items(): for proc_name, expected_cpu in PROCS.items():
err = "" err = ""
exp = "???"
cpu_usage = 0. cpu_usage = 0.
x = plogs_by_proc[proc_name] x = plogs_by_proc[proc_name[-15:]]
if len(x) > 2: if len(x) > 2:
cpu_time = cputime_total(x[-1]) - cputime_total(x[0]) cpu_time = cputime_total(x[-1]) - cputime_total(x[0])
cpu_usage = cpu_time / dt * 100. cpu_usage = cpu_time / dt * 100.
@ -309,7 +309,7 @@ class TestOnroad:
assert max(mems) - min(mems) <= 3.0 assert max(mems) - min(mems) <= 3.0
def test_gpu_usage(self): def test_gpu_usage(self):
assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.modeld.modeld"} assert self.gpu_procs == {"weston", "ui", "camerad", "modeld"}
def test_camera_processing_time(self): def test_camera_processing_time(self):
result = "\n" result = "\n"

4
system/manager/process.py
Unescape View File

@ -8,7 +8,7 @@ from collections.abc import Callable, ValuesView
from abc import ABC, abstractmethod from abc import ABC, abstractmethod
from multiprocessing import Process from multiprocessing import Process
from setproctitle import setproctitle from openpilot.common.threadname import setthreadname
from cereal import car, log from cereal import car, log
import cereal.messaging as messaging import cereal.messaging as messaging
@ -27,7 +27,7 @@ def launcher(proc: str, name: str) -> None:
mod = importlib.import_module(proc) mod = importlib.import_module(proc)
# rename the process # rename the process
setproctitle(proc) setthreadname(proc)
# create new context since we forked # create new context since we forked
messaging.context = messaging.Context() messaging.context = messaging.Context()

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