Write profiling result after running

Pipfile

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

Pipfile.lock

@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "43e17b684c18653c214e4b0af4f7b85e6d46960ada6850e31aef8cb59cae2e9f"
+            "sha256": "d0ad31cf2a829d14b99ac88767488f0c5245a73297466c799102422eaa12eaa2"
         },
         "pipfile-spec": 6,
         "requires": {
@@ -909,18 +909,18 @@
         },
         "boto3": {
             "hashes": [
-                "sha256:5a8c918c04015147f40e498994cd85c9442f6e00b4cf87ffb04f15d6a24135f4",
-                "sha256:7b82123d25100c834b71868d60e66fca37e0691edd444fb149d004ab00bea3b4"
+                "sha256:71323c0d241d264eb48fbd9b9aa3d3783e6da68ca1dbd3db51288bcfe4fd8be1",
+                "sha256:80596cfb805694e5c78295bf9e86c6ea0d47c46e788a5e44a8a0421f3bddff72"
             ],
             "index": "pypi",
-            "version": "==1.12.49"
+            "version": "==1.13.0"
         },
         "botocore": {
             "hashes": [
-                "sha256:a474131ba7a7d700b91696a27e8cdcf1b473084addf92f90b269ebd8f5c3d3e0",
-                "sha256:b805691b4dedcb2a252f52347479ff351429624a873f001b6a1c81aca03dccee"
+                "sha256:4b676b5d7d551e6cec9b5d9fc0811779534774f190208ae7f7a7f7309434b5bf",
+                "sha256:5025687275b0417d6747b45c6df6b65c1b05bcf8c22b339371c2bffa02a8e370"
             ],
-            "version": "==1.15.49"
+            "version": "==1.16.0"
         },
         "cachetools": {
             "hashes": [
@@ -2278,6 +2278,13 @@
             "markers": "python_version >= '2.6' and python_version not in '3.0, 3.1, 3.2, 3.3'",
             "version": "==2.4.7"
         },
+        "pyprof2calltree": {
+            "hashes": [
+                "sha256:a635672ff31677486350b2be9a823ef92f740e6354a6aeda8fa4a8a3768e8f2f"
+            ],
+            "index": "pypi",
+            "version": "==1.4.5"
+        },
         "pyproj": {
             "hashes": [
                 "sha256:0d8196a5ac75fee2cf71c21066b3344427abfa8ad69b536d3404d5c7c9c0b886",

selfdrive/test/profiling/.gitignore

@@ -0,0 +1 @@
+*.kgrind

selfdrive/test/profiling/controlsd.py

@@ -1,5 +1,9 @@
 #!/usr/bin/env python3
 
+import cProfile
+
+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
@@ -18,7 +22,10 @@ if __name__ == "__main__":
   sm = SubMaster(msgs, 'can', ['thermal', 'health', 'liveCalibration', 'dMonitoringState', 'plan', 'pathPlan', 'model'])
   can_sock = SubSocket(msgs, 'can')
 
-  try:
-    controlsd_thread(sm, pm, can_sock)
-  except ReplayDone:
-    pass
+  with cProfile.Profile() as pr:
+    try:
+      controlsd_thread(sm, pm, can_sock)
+    except ReplayDone:
+      pass
+
+  pyprof2calltree.convert(pr.getstats(), 'controlsd.kgrind')