43 lines
1.4 KiB
Python
Executable File
43 lines
1.4 KiB
Python
Executable File
#!/usr/bin/env python3
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import cProfile
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import pprofile
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import pyprof2calltree
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from tools.lib.logreader import LogReader
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from selfdrive.controls.controlsd import controlsd_thread
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from selfdrive.test.profiling.lib import SubMaster, PubMaster, SubSocket, ReplayDone
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BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
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SEGMENT = "99c94dc769b5d96e|2019-08-03--14-19-59/2"
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if __name__ == "__main__":
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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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pm = PubMaster(['sendcan', 'controlsState', 'carState', 'carControl', 'carEvents', 'carParams'])
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sm = SubMaster(msgs, 'can', ['thermal', 'health', 'liveCalibration', 'dMonitoringState', 'plan', 'pathPlan', 'model'])
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can_sock = SubSocket(msgs, 'can')
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# Statistical
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with pprofile.StatisticalProfile()(period=0.00001) as pr:
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try:
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controlsd_thread(sm, pm, can_sock)
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except ReplayDone:
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pass
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pr.dump_stats('cachegrind.out.controlsd_statistical')
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# Deterministic
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pm = PubMaster(['sendcan', 'controlsState', 'carState', 'carControl', 'carEvents', 'carParams'])
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sm = SubMaster(msgs, 'can', ['thermal', 'health', 'liveCalibration', 'dMonitoringState', 'plan', 'pathPlan', 'model'])
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can_sock = SubSocket(msgs, 'can')
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with cProfile.Profile() as pr:
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try:
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controlsd_thread(sm, pm, can_sock)
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except ReplayDone:
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pass
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pyprof2calltree.convert(pr.getstats(), 'cachegrind.out.controlsd_deterministic')
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