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Revert "Remove `setproctitle` (#32716)" (#33195)

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* Revert "Remove `setproctitle` (#32716)"

This reverts commit 9020d1931f4cd72f8162e4402278bdf76e3746f2.

* uv lock

* old name
old-commit-hash: 29b58d4f2f
pull/33302/head
Adeeb Shihadeh 9 months ago committed by GitHub
parent df13b36638
commit fc469e5f80
9 changed files with 65 additions and 59 deletions
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  1. 6
      common/realtime.py
  2. 8
      common/tests/test_threadname.py
  3. 19
      common/threadname.py
  4. 1
      pyproject.toml
  5. 4
      scripts/waste.py
  6. 12
      selfdrive/modeld/modeld.py
  7. 31
      selfdrive/test/test_onroad.py
  8. 4
      system/manager/process.py
  9. 39
      uv.lock

6
common/realtime.py
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@ -4,7 +4,7 @@ import os
import time import time
from collections import deque from collections import deque
from openpilot.common.threadname import getthreadname from setproctitle import getproctitle
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._thread_name = getthreadname() self._process_name = getproctitle()
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._thread_name} lagging by {-remaining * 1000:.2f} ms") print(f"{self._process_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
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@ -1,8 +0,0 @@
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
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@ -1,19 +0,0 @@
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 ""

1
pyproject.toml
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@ -58,6 +58,7 @@ dependencies = [
# these should be removed # these should be removed
"psutil", "psutil",
"pycryptodome", # used in updated/casync, panda, body, and a test "pycryptodome", # used in updated/casync, panda, body, and a test
"setproctitle",
# logreader # logreader
"zstandard", "zstandard",

4
scripts/waste.py
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@ -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 openpilot.common.threadname import setthreadname from setproctitle import setproctitle
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:
setthreadname("%3d: %8d" % (core, i)) setproctitle("%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
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@ -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 openpilot.common.threadname import setthreadname from setproctitle import setproctitle
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
THREAD_NAME = "selfdrive.modeld.modeld" PROCESS_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", THREAD_NAME) sentry.set_tag("daemon", PROCESS_NAME)
cloudlog.bind(daemon=THREAD_NAME) cloudlog.bind(daemon=PROCESS_NAME)
setthreadname("modeld") setproctitle(PROCESS_NAME)
config_realtime_process(7, 54) config_realtime_process(7, 54)
cloudlog.warning("setting up CL context") cloudlog.warning("setting up CL context")
@ -290,7 +290,7 @@ 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 {THREAD_NAME} got SIGINT") cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
except Exception: except Exception:
sentry.capture_exception() sentry.capture_exception()
raise raise

31
selfdrive/test/test_onroad.py
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@ -37,26 +37,26 @@ 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,
"modeld": 13.0, "selfdrive.modeld.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": 5.0, "system.micd": 5.0,
"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(), {}))
@ -247,7 +247,8 @@ 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:
plogs_by_proc[x.name].append(x) n = list(x.cmdline)[0]
plogs_by_proc[n].append(x)
print(plogs_by_proc.keys()) print(plogs_by_proc.keys())
cpu_ok = True cpu_ok = True
@ -257,7 +258,7 @@ class TestOnroad:
err = "" err = ""
exp = "???" exp = "???"
cpu_usage = 0. cpu_usage = 0.
x = plogs_by_proc[proc_name[-15:]] x = plogs_by_proc[proc_name]
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 +310,7 @@ 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", "modeld"} assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.modeld.modeld"}
def test_camera_processing_time(self): def test_camera_processing_time(self):
result = "\n" result = "\n"

4
system/manager/process.py
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@ -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 openpilot.common.threadname import setthreadname from setproctitle import setproctitle
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
setthreadname(proc) setproctitle(proc)
# create new context since we forked # create new context since we forked
messaging.reset_context() messaging.reset_context()

39
uv.lock
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@ -1173,8 +1173,7 @@ version = "1.30.0"
source = { registry = "https://pypi.org/simple" } source = { registry = "https://pypi.org/simple" }
dependencies = [ dependencies = [
{ name = "cryptography", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" }, { name = "cryptography", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
{ name = "pyjwt", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" }, { name = "pyjwt", extra = ["crypto"], marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
{ name = "pyjwt", extra = ["crypto"] },
{ name = "requests", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" }, { name = "requests", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
] ]
sdist = { url = "https://files.pythonhosted.org/packages/03/ce/45b9af8f43fbbf34d15162e1e39ce34b675c234c56638277cc05562b6dbf/msal-1.30.0.tar.gz", hash = "sha256:b4bf00850092e465157d814efa24a18f788284c9a479491024d62903085ea2fb", size = 142510 } sdist = { url = "https://files.pythonhosted.org/packages/03/ce/45b9af8f43fbbf34d15162e1e39ce34b675c234c56638277cc05562b6dbf/msal-1.30.0.tar.gz", hash = "sha256:b4bf00850092e465157d814efa24a18f788284c9a479491024d62903085ea2fb", size = 142510 }
@ -1370,7 +1369,7 @@ name = "opencv-python-headless"
version = "4.10.0.84" version = "4.10.0.84"
source = { registry = "https://pypi.org/simple" } source = { registry = "https://pypi.org/simple" }
dependencies = [ dependencies = [
{ name = "numpy" }, { name = "numpy", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
] ]
sdist = { url = "https://files.pythonhosted.org/packages/2f/7e/d20f68a5f1487adf19d74378d349932a386b1ece3be9be9915e5986db468/opencv-python-headless-4.10.0.84.tar.gz", hash = "sha256:f2017c6101d7c2ef8d7bc3b414c37ff7f54d64413a1847d89970b6b7069b4e1a", size = 95117755 } sdist = { url = "https://files.pythonhosted.org/packages/2f/7e/d20f68a5f1487adf19d74378d349932a386b1ece3be9be9915e5986db468/opencv-python-headless-4.10.0.84.tar.gz", hash = "sha256:f2017c6101d7c2ef8d7bc3b414c37ff7f54d64413a1847d89970b6b7069b4e1a", size = 95117755 }
wheels = [ wheels = [
@ -1410,6 +1409,7 @@ dependencies = [
{ name = "requests", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" }, { name = "requests", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
{ name = "scons", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" }, { name = "scons", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
{ name = "sentry-sdk", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" }, { name = "sentry-sdk", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
{ name = "setproctitle", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
{ name = "setuptools", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" }, { name = "setuptools", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
{ name = "smbus2", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" }, { name = "smbus2", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
{ name = "sounddevice", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" }, { name = "sounddevice", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
@ -4559,7 +4559,6 @@ version = "5.0.0"
source = { registry = "https://pypi.org/simple" } source = { registry = "https://pypi.org/simple" }
dependencies = [ dependencies = [
{ name = "coverage", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" }, { name = "coverage", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
{ name = "coverage" },
{ name = "pytest", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" }, { name = "pytest", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
] ]
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@ -4980,6 +4979,38 @@ wheels = [
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[[distribution]] [[distribution]]
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