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101 lines
3.0 KiB
101 lines
3.0 KiB
#!/usr/bin/env python3
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import os
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import sys
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import cProfile
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import pprofile
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import pyprof2calltree
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from openpilot.common.params import Params
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from openpilot.tools.lib.logreader import LogReader
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from openpilot.selfdrive.test.profiling.lib import SubMaster, PubMaster, SubSocket, ReplayDone
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from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS
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from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
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from openpilot.selfdrive.car.honda.values import CAR as HONDA
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from openpilot.selfdrive.car.volkswagen.values import CAR as VW
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BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
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CARS = {
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'toyota': ("0982d79ebb0de295|2021-01-03--20-03-36/6", TOYOTA.RAV4),
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'honda': ("0982d79ebb0de295|2021-01-08--10-13-10/6", HONDA.CIVIC),
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"vw": ("ef895f46af5fd73f|2021-05-22--14-06-35/6", VW.AUDI_A3_MK3),
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}
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def get_inputs(msgs, process, fingerprint):
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for config in CONFIGS:
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if config.proc_name == process:
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sub_socks = list(config.pubs)
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trigger = sub_socks[0]
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break
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# some procs block on CarParams
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for msg in msgs:
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if msg.which() == 'carParams':
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m = msg.as_builder()
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m.carParams.carFingerprint = fingerprint
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Params().put("CarParams", m.carParams.copy().to_bytes())
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break
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sm = SubMaster(msgs, trigger, sub_socks)
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pm = PubMaster()
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if 'can' in sub_socks:
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can_sock = SubSocket(msgs, 'can')
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else:
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can_sock = None
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return sm, pm, can_sock
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def profile(proc, func, car='toyota'):
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segment, fingerprint = CARS[car]
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segment = segment.replace('|', '/')
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rlog_url = f"{BASE_URL}{segment}/rlog.bz2"
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msgs = list(LogReader(rlog_url)) * int(os.getenv("LOOP", "1"))
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os.environ['FINGERPRINT'] = fingerprint
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os.environ['SKIP_FW_QUERY'] = "1"
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os.environ['REPLAY'] = "1"
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def run(sm, pm, can_sock):
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try:
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if can_sock is not None:
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func(sm, pm, can_sock)
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else:
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func(sm, pm)
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except ReplayDone:
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pass
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# Statistical
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sm, pm, can_sock = get_inputs(msgs, proc, fingerprint)
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with pprofile.StatisticalProfile()(period=0.00001) as pr:
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run(sm, pm, can_sock)
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pr.dump_stats(f'cachegrind.out.{proc}_statistical')
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# Deterministic
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sm, pm, can_sock = get_inputs(msgs, proc, fingerprint)
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with cProfile.Profile() as pr:
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run(sm, pm, can_sock)
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pyprof2calltree.convert(pr.getstats(), f'cachegrind.out.{proc}_deterministic')
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if __name__ == '__main__':
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from openpilot.selfdrive.controls.controlsd import main as controlsd_thread
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from openpilot.selfdrive.controls.radard import radard_thread
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from openpilot.selfdrive.locationd.paramsd import main as paramsd_thread
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from openpilot.selfdrive.controls.plannerd import main as plannerd_thread
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from openpilot.selfdrive.locationd.laikad import main as laikad_thread
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procs = {
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'radard': radard_thread,
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'controlsd': controlsd_thread,
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'paramsd': paramsd_thread,
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'plannerd': plannerd_thread,
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'laikad': laikad_thread,
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}
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proc = sys.argv[1]
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if proc not in procs:
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print(f"{proc} not available")
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sys.exit(0)
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else:
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profile(proc, procs[proc])
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