locationd profiling (#1625)
parent
165bcf1f31
commit
66455b075d
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@ -82,6 +82,8 @@ class SubMaster(messaging.SubMaster):
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self.logMonoTime[w] = msg.logMonoTime
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self.i += 1
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if self.i == self.max_i:
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raise ReplayDone
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if w == self.trigger:
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break
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@ -0,0 +1,49 @@
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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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