sunnypilot/selfdrive/test/profiling/profiler.py

#!/usr/bin/env python3
import os
import sys
import cProfile
import pprofile
import pyprof2calltree

from opendbc.car.toyota.values import CAR as TOYOTA
from opendbc.car.honda.values import CAR as HONDA
from opendbc.car.volkswagen.values import CAR as VW
from openpilot.common.params import Params
from openpilot.tools.lib.logreader import LogReader
from openpilot.selfdrive.test.profiling.lib import SubMaster, PubMaster, SubSocket, ReplayDone
from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS

BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"

CARS = {
  'toyota': ("0982d79ebb0de295|2021-01-03--20-03-36/6", TOYOTA.TOYOTA_RAV4),
  'honda': ("0982d79ebb0de295|2021-01-08--10-13-10/6", HONDA.HONDA_CIVIC),
  "vw": ("ef895f46af5fd73f|2021-05-22--14-06-35/6", VW.AUDI_A3_MK3),
}


def get_inputs(msgs, process, fingerprint):
  for config in CONFIGS:
    if config.proc_name == process:
      sub_socks = list(config.pubs)
      trigger = sub_socks[0]
      break

  # some procs block on CarParams
  for msg in msgs:
    if msg.which() == 'carParams':
      m = msg.as_builder()
      m.carParams.carFingerprint = fingerprint
      Params().put("CarParams", m.carParams.copy().to_bytes())
      break

  sm = SubMaster(msgs, trigger, sub_socks)
  pm = PubMaster()
  if 'can' in sub_socks:
    can_sock = SubSocket(msgs, 'can')
  else:
    can_sock = None
  return sm, pm, can_sock


def profile(proc, func, car='toyota'):
  segment, fingerprint = CARS[car]
  segment = segment.replace('|', '/')
  rlog_url = f"{BASE_URL}{segment}/rlog.bz2"
  msgs = list(LogReader(rlog_url)) * int(os.getenv("LOOP", "1"))

  os.environ['FINGERPRINT'] = fingerprint
  os.environ['SKIP_FW_QUERY'] = "1"
  os.environ['REPLAY'] = "1"

  def run(sm, pm, can_sock):
    try:
      if can_sock is not None:
        func(sm, pm, can_sock)
      else:
        func(sm, pm)
    except ReplayDone:
      pass

  # Statistical
  sm, pm, can_sock = get_inputs(msgs, proc, fingerprint)
  with pprofile.StatisticalProfile()(period=0.00001) as pr:
    run(sm, pm, can_sock)
  pr.dump_stats(f'cachegrind.out.{proc}_statistical')

  # Deterministic
  sm, pm, can_sock = get_inputs(msgs, proc, fingerprint)
  with cProfile.Profile() as pr:
    run(sm, pm, can_sock)
  pyprof2calltree.convert(pr.getstats(), f'cachegrind.out.{proc}_deterministic')


if __name__ == '__main__':
  from openpilot.selfdrive.controls.controlsd import main as controlsd_thread
  from openpilot.selfdrive.locationd.paramsd import main as paramsd_thread
  from openpilot.selfdrive.controls.plannerd import main as plannerd_thread

  procs = {
    'controlsd': controlsd_thread,
    'paramsd': paramsd_thread,
    'plannerd': plannerd_thread,
  }

  proc = sys.argv[1]
  if proc not in procs:
    print(f"{proc} not available")
    sys.exit(0)
  else:
    profile(proc, procs[proc])