mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-19 13:33:59 +08:00
e6ac6320ac
* replay_process_with_fake_sockets implementation * add missing polled_pubs to configs * drained_pubs field * updated cereal * Remove python/native variations of process replay. Replace with universal one using cereal fake sockets * Replace old py FakeSocket with DummySocket * Invalidate and deregister fake sockets after replay is done * Remove unused import * Set up new prefix for each replay * Fixes for radard * Refactor ReplayContext and ProcessConfig * Minor fixes * Reimplement controlsd fingerprinting callback * time.sleep for sockets to safely reconnect * Fix fingerprinting for controlsd * Fixes for regen to work * Fix replay loop to respect submaster frames * Fix profiler to use new ProcessConfig fields * Remove tqdm * Refactor tests to use new ProcessConfig * Add FrequencyBasedRcvCallback * Make tolerance None by default * Update cereal * Add get_process_config utility func * Update cereal. Simplify sync procedure * Chain context managers * New sub-socket reconnection procedure * Fix linter issues * Revert chaining of context managers * Init controlsState only when replaying controlsd. Update cereal * Update cereal * Update process_replay to use new cereal API * Update cereal * Update cereal * Update cereal * Simplify radard recv callback * Update release/files_common
102 lines
3.0 KiB
Python
Executable File
102 lines
3.0 KiB
Python
Executable File
#!/usr/bin/env python3
|
|
import os
|
|
import sys
|
|
import cProfile # pylint: disable=import-error
|
|
import pprofile # pylint: disable=import-error
|
|
import pyprof2calltree # pylint: disable=import-error
|
|
|
|
from common.params import Params
|
|
from tools.lib.logreader import LogReader
|
|
from selfdrive.test.profiling.lib import SubMaster, PubMaster, SubSocket, ReplayDone
|
|
from selfdrive.test.process_replay.process_replay import CONFIGS
|
|
from selfdrive.car.toyota.values import CAR as TOYOTA
|
|
from selfdrive.car.honda.values import CAR as HONDA
|
|
from selfdrive.car.volkswagen.values import CAR as VW
|
|
|
|
BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
|
|
|
|
CARS = {
|
|
'toyota': ("0982d79ebb0de295|2021-01-03--20-03-36/6", TOYOTA.RAV4),
|
|
'honda': ("0982d79ebb0de295|2021-01-08--10-13-10/6", 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 selfdrive.controls.controlsd import main as controlsd_thread
|
|
from selfdrive.controls.radard import radard_thread
|
|
from selfdrive.locationd.paramsd import main as paramsd_thread
|
|
from selfdrive.controls.plannerd import main as plannerd_thread
|
|
from selfdrive.locationd.laikad import main as laikad_thread
|
|
|
|
procs = {
|
|
'radard': radard_thread,
|
|
'controlsd': controlsd_thread,
|
|
'paramsd': paramsd_thread,
|
|
'plannerd': plannerd_thread,
|
|
'laikad': laikad_thread,
|
|
}
|
|
|
|
proc = sys.argv[1]
|
|
if proc not in procs:
|
|
print(f"{proc} not available")
|
|
sys.exit(0)
|
|
else:
|
|
profile(proc, procs[proc])
|