run both deterministic and statistical profiler

Pipfile

@@ -70,6 +70,7 @@ aiohttp = "*"
 lru-dict = "*"
 scikit-image = "*"
 pygame = "==2.0.0.dev6"
+pprofile = "*"
 pyprof2calltree = "*"
 
 [packages]

Pipfile.lock

@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "d0ad31cf2a829d14b99ac88767488f0c5245a73297466c799102422eaa12eaa2"
+            "sha256": "bffeedc179051a29c8e5153cf2e72503c8ead081816c47aec7cece0c73cbcb31"
         },
         "pipfile-spec": 6,
         "requires": {
@@ -1968,6 +1968,13 @@
             ],
             "version": "==1.7.0"
         },
+        "pprofile": {
+            "hashes": [
+                "sha256:2036522d201188641ab6766b3fea105ddeb72d3b752a7d6da695be7e7ba21656"
+            ],
+            "index": "pypi",
+            "version": "==2.0.4"
+        },
         "prometheus-client": {
             "hashes": [
                 "sha256:71cd24a2b3eb335cb800c7159f423df1bd4dcd5171b234be15e3f31ec9f622da"

selfdrive/test/profiling/.gitignore

@@ -1 +1,2 @@
 cachegrind.out.*
+*.prof

selfdrive/test/profiling/controlsd.py

@@ -1,14 +1,13 @@
 #!/usr/bin/env python3
 
 import cProfile
-
+import pprofile
 import pyprof2calltree
 
 from tools.lib.logreader import LogReader
 from selfdrive.controls.controlsd import controlsd_thread
 from selfdrive.test.profiling.lib import SubMaster, PubMaster, SubSocket, ReplayDone
 
-
 BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 SEGMENT = "99c94dc769b5d96e|2019-08-03--14-19-59/2"
 
@@ -22,10 +21,22 @@ if __name__ == "__main__":
   sm = SubMaster(msgs, 'can', ['thermal', 'health', 'liveCalibration', 'dMonitoringState', 'plan', 'pathPlan', 'model'])
   can_sock = SubSocket(msgs, 'can')
 
-  with cProfile.Profile() as pr:
+  # Statistical
+  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
+  pm = PubMaster(['sendcan', 'controlsState', 'carState', 'carControl', 'carEvents', 'carParams'])
+  sm = SubMaster(msgs, 'can', ['thermal', 'health', 'liveCalibration', 'dMonitoringState', 'plan', 'pathPlan', 'model'])
+  can_sock = SubSocket(msgs, 'can')
 
-  pyprof2calltree.convert(pr.getstats(), 'cachegrind.out.controlsd')
+  with cProfile.Profile() as pr:
+    try:
+      controlsd_thread(sm, pm, can_sock)
+    except ReplayDone:
+      pass
+  pyprof2calltree.convert(pr.getstats(), 'cachegrind.out.controlsd_deterministic')