paramsd profiling
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#!/usr/bin/env python3
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import cProfile # pylint: disable=import-error
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import pprofile # pylint: disable=import-error
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import pyprof2calltree # pylint: disable=import-error
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from tools.lib.logreader import LogReader
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from selfdrive.locationd.locationd import locationd_thread
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from selfdrive.test.profiling.lib import SubMaster, PubMaster, ReplayDone
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BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
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CARS = {
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'toyota': ("77611a1fac303767|2020-02-29--13-29-33/3", "TOYOTA COROLLA TSS2 2019"),
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}
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def get_inputs(msgs, process):
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sub_socks = ['gpsLocationExternal', 'sensorEvents', 'cameraOdometry', 'liveCalibration', 'carState']
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trigger = 'cameraOdometry'
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sm = SubMaster(msgs, trigger, sub_socks)
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pm = PubMaster()
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return sm, pm
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if __name__ == "__main__":
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segment, fingerprint = CARS['toyota']
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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))
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# Statistical
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sm, pm = get_inputs(msgs, 'locationd')
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with pprofile.StatisticalProfile()(period=0.00001) as pr:
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try:
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locationd_thread(sm, pm)
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except ReplayDone:
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pass
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pr.dump_stats('cachegrind.out.locationd_statistical')
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# Deterministic
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sm, pm = get_inputs(msgs, 'controlsd')
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with cProfile.Profile() as pr:
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try:
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locationd_thread(sm, pm)
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except ReplayDone:
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pass
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pyprof2calltree.convert(pr.getstats(), 'cachegrind.out.locationd_deterministic')
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@ -27,7 +27,10 @@ def get_inputs(msgs, process):
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sm = SubMaster(msgs, trigger, sub_socks)
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pm = PubMaster()
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can_sock = SubSocket(msgs, 'can')
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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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@ -39,32 +42,38 @@ def profile(proc, func, car='toyota'):
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os.environ['FINGERPRINT'] = fingerprint
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# Statistical
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sm, pm, can_sock = get_inputs(msgs, proc)
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with pprofile.StatisticalProfile()(period=0.00001) as pr:
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def run():
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sm, pm, can_sock = get_inputs(msgs, proc)
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try:
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func(sm, pm, can_sock)
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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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with pprofile.StatisticalProfile()(period=0.00001) as pr:
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run()
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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)
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with cProfile.Profile() as pr:
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try:
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func(sm, pm, can_sock)
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except ReplayDone:
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pass
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run()
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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 selfdrive.controls.controlsd import main as controlsd_thread
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from selfdrive.controls.radard import radard_thread
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from selfdrive.locationd.locationd import locationd_thread
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from selfdrive.locationd.paramsd import main as paramsd_thread
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procs = {
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'radard': radard_thread,
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'controlsd': controlsd_thread,
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'locationd': locationd_thread,
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'paramsd': paramsd_thread,
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}
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proc = sys.argv[1]
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