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108 lines
3.4 KiB
108 lines
3.4 KiB
#!/usr/bin/env python3
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import os
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import time
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import sys
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import subprocess
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import cereal.messaging as messaging
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from common.basedir import BASEDIR
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from selfdrive.test.helpers import set_params_enabled
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def cputime_total(ct):
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return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem
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def print_cpu_usage(first_proc, last_proc):
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procs = [
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("selfdrive.controls.controlsd", 47.0),
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("./loggerd", 42.0),
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("selfdrive.locationd.locationd", 35.0),
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("selfdrive.locationd.paramsd", 12.0),
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("selfdrive.controls.plannerd", 20.0),
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("./_modeld", 7.12),
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("./camerad", 7.07),
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("./_sensord", 6.17),
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("./_ui", 5.82),
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("selfdrive.controls.radard", 5.67),
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("./boardd", 3.63),
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("./_dmonitoringmodeld", 2.67),
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("selfdrive.logmessaged", 1.7),
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("selfdrive.thermald.thermald", 2.41),
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("selfdrive.locationd.calibrationd", 2.0),
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("selfdrive.monitoring.dmonitoringd", 1.90),
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("./proclogd", 1.54),
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("./_gpsd", 0.09),
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("./clocksd", 0.02),
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("./ubloxd", 0.02),
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("selfdrive.tombstoned", 0),
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("./logcatd", 0),
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]
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r = True
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dt = (last_proc.logMonoTime - first_proc.logMonoTime) / 1e9
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result = "------------------------------------------------\n"
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for proc_name, normal_cpu_usage in procs:
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try:
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first = [p for p in first_proc.procLog.procs if proc_name in p.cmdline][0]
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last = [p for p in last_proc.procLog.procs if proc_name in p.cmdline][0]
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cpu_time = cputime_total(last) - cputime_total(first)
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cpu_usage = cpu_time / dt * 100.
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if cpu_usage > max(normal_cpu_usage * 1.1, normal_cpu_usage + 5.0):
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result += f"Warning {proc_name} using more CPU than normal\n"
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r = False
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elif cpu_usage < min(normal_cpu_usage * 0.65, max(normal_cpu_usage - 1.0, 0.0)):
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result += f"Warning {proc_name} using less CPU than normal\n"
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r = False
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result += f"{proc_name.ljust(35)} {cpu_usage:.2f}%\n"
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except IndexError:
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result += f"{proc_name.ljust(35)} NO METRICS FOUND\n"
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r = False
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result += "------------------------------------------------\n"
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print(result)
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return r
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def test_cpu_usage():
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cpu_ok = False
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# start manager
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os.environ['SKIP_FW_QUERY'] = "1"
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os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019"
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manager_path = os.path.join(BASEDIR, "selfdrive/manager.py")
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manager_proc = subprocess.Popen(["python", manager_path])
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try:
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proc_sock = messaging.sub_sock('procLog', conflate=True, timeout=2000)
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cs_sock = messaging.sub_sock('controlsState')
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# wait until everything's started
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msg = None
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start_time = time.monotonic()
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while msg is None and time.monotonic() - start_time < 240:
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msg = messaging.recv_sock(cs_sock)
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# take first sample
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time.sleep(15)
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first_proc = messaging.recv_sock(proc_sock, wait=True)
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if first_proc is None:
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raise Exception("\n\nTEST FAILED: progLog recv timed out\n\n")
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# run for a minute and get last sample
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time.sleep(60)
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last_proc = messaging.recv_sock(proc_sock, wait=True)
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cpu_ok = print_cpu_usage(first_proc, last_proc)
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finally:
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manager_proc.terminate()
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ret = manager_proc.wait(20)
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if ret is None:
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manager_proc.kill()
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return cpu_ok
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if __name__ == "__main__":
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set_params_enabled()
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passed = False
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try:
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passed = test_cpu_usage()
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except Exception as e:
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print("\n\n\n", "TEST FAILED:", str(e), "\n\n\n")
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finally:
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sys.exit(int(not passed))
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