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112 lines
3.5 KiB
112 lines
3.5 KiB
#!/usr/bin/env python3
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import time
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import threading
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import _thread
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import signal
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import sys
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import cereal.messaging as messaging
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from common.params import Params
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import selfdrive.manager as manager
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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", 59.46),
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("selfdrive.locationd.locationd", 34.38),
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("./loggerd", 33.90),
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("selfdrive.controls.plannerd", 19.77),
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("./_modeld", 12.74),
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("selfdrive.locationd.paramsd", 11.53),
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("selfdrive.controls.radard", 9.54),
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("./_ui", 9.54),
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("./camerad", 7.07),
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("selfdrive.locationd.calibrationd", 6.81),
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("./_sensord", 6.17),
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("selfdrive.monitoring.dmonitoringd", 5.48),
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("./boardd", 3.63),
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("./_dmonitoringmodeld", 2.67),
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("selfdrive.logmessaged", 2.71),
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("selfdrive.thermald.thermald", 2.41),
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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 = 0
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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 = 1
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elif cpu_usage < min(normal_cpu_usage * 0.3, 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 = 1
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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 = 1
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result += "------------------------------------------------\n"
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print(result)
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return r
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def all_running():
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running = manager.get_running()
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return all(p in running and running[p].is_alive() for p in manager.car_started_processes)
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return_code = 1
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def test_thread():
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try:
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global return_code
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proc_sock = messaging.sub_sock('procLog', conflate=True, timeout=2000)
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# wait until everything's started and get first sample
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start_time = time.monotonic()
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while time.monotonic() - start_time < 120:
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if Params().get("CarParams") is not None:
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break
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time.sleep(2)
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first_proc = messaging.recv_sock(proc_sock, wait=True)
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if first_proc is None or not all_running():
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err_msg = "procLog recv timed out" if first_proc is None else "all car started process not running"
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print(f"\n\nTEST FAILED: {err_msg}\n\n")
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raise Exception
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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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return_code = print_cpu_usage(first_proc, last_proc)
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if not all_running():
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return_code = 1
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finally:
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_thread.interrupt_main()
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if __name__ == "__main__":
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# setup signal handler to exit with test status
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def handle_exit(sig, frame):
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sys.exit(return_code)
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signal.signal(signal.SIGINT, handle_exit)
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# start manager and test thread
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set_params_enabled()
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Params().delete("CarParams")
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t = threading.Thread(target=test_thread)
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t.daemon = True
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t.start()
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manager.main()
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