mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-19 22:53:55 +08:00
6b020241c9
* refactor add function get_camerabuf_by_type remove cl_free use camera_id move front stuff into frontview_thread bigger refactor more typo rename camerabuf *c to *b cleanup header files remove wideview_thread camera_qcom.c to c++ fix SConscript camera_process_buf space sendrgb same with before do autoexposure in processing_thread correct sendrgb add camera_common.cc move yuv_transform to CameraBuf * use C to keep consitent * rebase master * rebase master * continue refactor * refactor all camera related data&function out of main done * cleanup * -use buf.rgb_width&height * remoe , * rebase master * remove unused std::vector * add func common_camera_process_front * fix max * fix sendrgb * less crap being logged * fix indents * add back thumbnails * thumbnail fixed on tici * junk junk junk * unify api * fix ptr ref * lol! * cleanup * more simplified * typos * remove terminate * use standard polling * ops_thread refactor, too much code! * fix build * ok * assert * listen * incl more * wq! * fix more build * macos * fix exp targets * front is different * const * bye * remath * remove irrelevant * do ops in a thread * fix init * return null * QCOM2 ops * qcom2 build * missing comma Co-authored-by: deanlee <deanlee3@gmail.com> Co-authored-by: Comma Device <device@comma.ai>
107 lines
3.2 KiB
Python
Executable File
107 lines
3.2 KiB
Python
Executable File
#!/usr/bin/env python3
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import os
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import time
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import sys
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import subprocess
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import cereal.messaging as messaging
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from common.basedir import BASEDIR
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from common.params import Params
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from selfdrive.test.helpers import set_params_enabled
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def cputime_total(ct):
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return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem
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def print_cpu_usage(first_proc, last_proc):
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procs = [
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("selfdrive.controls.controlsd", 45.0),
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("./loggerd", 33.90),
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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", 10.5),
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("./_modeld", 7.12),
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("./camerad", 7.07),
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("./_sensord", 6.17),
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("./_ui", 5.82),
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("selfdrive.controls.radard", 5.67),
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("./boardd", 3.63),
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("./_dmonitoringmodeld", 2.67),
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("selfdrive.logmessaged", 1.7),
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("selfdrive.thermald.thermald", 2.41),
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("selfdrive.locationd.calibrationd", 2.0),
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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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("./ubloxd", 0.02),
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("selfdrive.tombstoned", 0),
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("./logcatd", 0),
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]
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r = True
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dt = (last_proc.logMonoTime - first_proc.logMonoTime) / 1e9
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result = "------------------------------------------------\n"
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for proc_name, normal_cpu_usage in procs:
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try:
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first = [p for p in first_proc.procLog.procs if proc_name in p.cmdline][0]
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last = [p for p in last_proc.procLog.procs if proc_name in p.cmdline][0]
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cpu_time = cputime_total(last) - cputime_total(first)
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cpu_usage = cpu_time / dt * 100.
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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 * 0.65, 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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except IndexError:
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result += f"{proc_name.ljust(35)} NO METRICS FOUND\n"
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r = False
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result += "------------------------------------------------\n"
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print(result)
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return r
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def test_cpu_usage():
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cpu_ok = False
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# start manager
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manager_path = os.path.join(BASEDIR, "selfdrive/manager.py")
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manager_proc = subprocess.Popen(["python", manager_path])
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try:
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proc_sock = messaging.sub_sock('procLog', conflate=True, timeout=2000)
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# wait until everything's started
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start_time = time.monotonic()
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while time.monotonic() - start_time < 210:
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if Params().get("CarParams") is not None:
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break
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time.sleep(2)
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# take first sample
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time.sleep(5)
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first_proc = messaging.recv_sock(proc_sock, wait=True)
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if first_proc is None:
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raise Exception("\n\nTEST FAILED: progLog recv timed out\n\n")
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# run for a minute and get last sample
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time.sleep(60)
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last_proc = messaging.recv_sock(proc_sock, wait=True)
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cpu_ok = print_cpu_usage(first_proc, last_proc)
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finally:
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manager_proc.terminate()
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ret = manager_proc.wait(20)
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if ret is None:
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manager_proc.kill()
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return cpu_ok
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if __name__ == "__main__":
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set_params_enabled()
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Params().delete("CarParams")
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passed = False
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try:
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passed = test_cpu_usage()
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finally:
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sys.exit(int(not passed))
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