Reduce plannerd and dmonitoringd CPU usage (#2108)
* fix wasted cycles in locationd and dmonitoringd
* bump cereal
* calibrationd
* Revert "calibrationd"
This reverts commit 580051a33b.
* this is cleaner
* calibrationd
* paramsd is driven by liveLocationKalman
* only log params once a minute
* stricter CPU usage test
* revert locationd for now
* revert calibrationd too
* revert thresholds
pull/2124/head
Adeeb Shihadeh
GitHub
parent
2b23624b42
commit
21fbe26980
2
cereal
2
cereal
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@ -1 +1 @@
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Subproject commit 1538183eaa3c9a22a3e675182d6e1cc8e23ad574
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Subproject commit 626679d1a56c689cbad7bf99a08c5ecbf9d073fb
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@ -27,7 +27,8 @@ def plannerd_thread(sm=None, pm=None):
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VM = VehicleModel(CP)
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if sm is None:
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sm = messaging.SubMaster(['carState', 'controlsState', 'radarState', 'model', 'liveParameters'])
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sm = messaging.SubMaster(['carState', 'controlsState', 'radarState', 'model', 'liveParameters'],
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poll=['radarState', 'model'])
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if pm is None:
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pm = messaging.PubMaster(['plan', 'liveLongitudinalMpc', 'pathPlan', 'liveMpc'])
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@ -18,7 +18,7 @@ def dmonitoringd_thread(sm=None, pm=None):
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pm = messaging.PubMaster(['dMonitoringState'])
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if sm is None:
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sm = messaging.SubMaster(['driverState', 'liveCalibration', 'carState', 'model'])
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sm = messaging.SubMaster(['driverState', 'liveCalibration', 'carState', 'model'], poll=['driverState'])
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driver_status = DriverStatus()
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driver_status.is_rhd_region = Params().get("IsRHD") == b"1"
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@ -57,37 +57,36 @@ def dmonitoringd_thread(sm=None, pm=None):
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driver_status.set_policy(sm['model'])
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# Get data from dmonitoringmodeld
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if sm.updated['driverState']:
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events = Events()
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driver_status.get_pose(sm['driverState'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['carState'].cruiseState.enabled)
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events = Events()
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driver_status.get_pose(sm['driverState'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['carState'].cruiseState.enabled)
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# Block engaging after max number of distrations
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if driver_status.terminal_alert_cnt >= MAX_TERMINAL_ALERTS or driver_status.terminal_time >= MAX_TERMINAL_DURATION:
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events.add(car.CarEvent.EventName.tooDistracted)
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# Block engaging after max number of distrations
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if driver_status.terminal_alert_cnt >= MAX_TERMINAL_ALERTS or driver_status.terminal_time >= MAX_TERMINAL_DURATION:
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events.add(car.CarEvent.EventName.tooDistracted)
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# Update events from driver state
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driver_status.update(events, driver_engaged, sm['carState'].cruiseState.enabled, sm['carState'].standstill)
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# Update events from driver state
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driver_status.update(events, driver_engaged, sm['carState'].cruiseState.enabled, sm['carState'].standstill)
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# build dMonitoringState packet
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dat = messaging.new_message('dMonitoringState')
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dat.dMonitoringState = {
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"events": events.to_msg(),
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"faceDetected": driver_status.face_detected,
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"isDistracted": driver_status.driver_distracted,
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"awarenessStatus": driver_status.awareness,
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"isRHD": driver_status.is_rhd_region,
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"posePitchOffset": driver_status.pose.pitch_offseter.filtered_stat.mean(),
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"posePitchValidCount": driver_status.pose.pitch_offseter.filtered_stat.n,
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"poseYawOffset": driver_status.pose.yaw_offseter.filtered_stat.mean(),
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"poseYawValidCount": driver_status.pose.yaw_offseter.filtered_stat.n,
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"stepChange": driver_status.step_change,
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"awarenessActive": driver_status.awareness_active,
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"awarenessPassive": driver_status.awareness_passive,
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"isLowStd": driver_status.pose.low_std,
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"hiStdCount": driver_status.hi_stds,
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"isPreview": offroad,
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}
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pm.send('dMonitoringState', dat)
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# build dMonitoringState packet
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dat = messaging.new_message('dMonitoringState')
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dat.dMonitoringState = {
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"events": events.to_msg(),
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"faceDetected": driver_status.face_detected,
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"isDistracted": driver_status.driver_distracted,
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"awarenessStatus": driver_status.awareness,
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"isRHD": driver_status.is_rhd_region,
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"posePitchOffset": driver_status.pose.pitch_offseter.filtered_stat.mean(),
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"posePitchValidCount": driver_status.pose.pitch_offseter.filtered_stat.n,
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"poseYawOffset": driver_status.pose.yaw_offseter.filtered_stat.mean(),
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"poseYawValidCount": driver_status.pose.yaw_offseter.filtered_stat.n,
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"stepChange": driver_status.step_change,
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"awarenessActive": driver_status.awareness_active,
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"awarenessPassive": driver_status.awareness_passive,
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"isLowStd": driver_status.pose.low_std,
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"hiStdCount": driver_status.hi_stds,
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"isPreview": offroad,
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}
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pm.send('dMonitoringState', dat)
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def main(sm=None, pm=None):
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dmonitoringd_thread(sm, pm)
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@ -16,21 +16,21 @@ def cputime_total(ct):
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def print_cpu_usage(first_proc, last_proc):
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procs = [
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("selfdrive.controls.controlsd", 66.15),
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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.locationd", 29.5),
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("selfdrive.controls.plannerd", 11.84),
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("selfdrive.locationd.paramsd", 11.53),
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("./_modeld", 7.12),
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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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("selfdrive.locationd.calibrationd", 6.0),
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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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("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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@ -51,7 +51,7 @@ def print_cpu_usage(first_proc, last_proc):
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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 * 0.3, max(normal_cpu_usage - 1.0, 0.0)):
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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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