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Remove `setproctitle` (#32716) 

* Custom setproctitle (#32667)

* add custom setproctitle

* add test

* Update poetry.lock

* fix lint

* support only Linux

* test only Linux

* final lint

* Update test_setproctitle.py

* Update setproctitle.py

* convert to threadnames

* delete proctitles

* Check str len and use PR_GET_NAME

* fix poetry.lock

* lint fix

* Update common/threadname.py

---------

Co-authored-by: reddyn12 <nikhilr.ssm@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* revert that for now

* use last 15

* fix

* use name

* update those

* and modeld

* rm

---------

Co-authored-by: schlimeszn <138847413+schlimeszn@users.noreply.github.com>
Co-authored-by: reddyn12 <nikhilr.ssm@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
Adeeb Shihadeh 2024-06-11 21:57:32 -07:00 committed by GitHub
parent 81dc33e569
commit 83ac80c6c8
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
9 changed files with 61 additions and 137 deletions
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6
common/realtime.py
View File

@ -4,7 +4,7 @@ import os
import time
from collections import deque
from setproctitle import getproctitle
from openpilot.common.threadname import getthreadname
from openpilot.system.hardware import PC
@ -52,7 +52,7 @@ class Ratekeeper:
self._print_delay_threshold = print_delay_threshold
self._frame = 0
self._remaining = 0.0
self._process_name = getproctitle()
self._thread_name = getthreadname()
self._dts = deque([self._interval], maxlen=100)
self._last_monitor_time = time.monotonic()
@ -87,7 +87,7 @@ class Ratekeeper:
remaining = self._next_frame_time - time.monotonic()
self._next_frame_time += self._interval
if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms")
print(f"{self._thread_name} lagging by {-remaining * 1000:.2f} ms")
lagged = True
self._frame += 1
self._remaining = remaining

8
common/tests/test_threadname.py Normal file
View File

@ -0,0 +1,8 @@
from openpilot.common.threadname import setthreadname, getthreadname, LINUX
class TestThreadName:
def test_set_get_threadname(self):
if LINUX:
name = 'TESTING'
setthreadname(name)
assert name == getthreadname()

19
common/threadname.py Normal file
View File

@ -0,0 +1,19 @@
import ctypes
import os
LINUX = os.name == 'posix' and os.uname().sysname == 'Linux'
if LINUX:
libc = ctypes.CDLL('libc.so.6')
def setthreadname(name: str) -> None:
if LINUX:
name = name[-15:] + '\0'
libc.prctl(15, str.encode(name), 0, 0, 0)
def getthreadname() -> str:
if LINUX:
name = ctypes.create_string_buffer(16)
libc.prctl(16, name)
return name.value.decode('utf-8')
return ""

112
poetry.lock generated
View File

@ -1,4 +1,4 @@
# This file is automatically @generated by Poetry 1.7.0 and should not be changed by hand.
# This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand.
[[package]]
name = "aiohttp"
@ -2730,7 +2730,6 @@ optional = false
python-versions = ">=3.6"
files = [
{file = "opencv-python-4.10.0.82.tar.gz", hash = "sha256:dbc021eaa310c4145c47cd648cb973db69bb5780d6e635386cd53d3ea76bd2d5"},
{file = "opencv_python-4.10.0.82-cp37-abi3-macosx_11_0_arm64.whl", hash = "sha256:5f78652339957ec24b80a782becfb32f822d2008a865512121fad8c3ce233e9a"},
{file = "opencv_python-4.10.0.82-cp37-abi3-macosx_12_0_x86_64.whl", hash = "sha256:e6be19a0615aa8c4e0d34e0c7b133e26e386f4b7e9b557b69479104ab2c133ec"},
{file = "opencv_python-4.10.0.82-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5b49e530f7fd86f671514b39ffacdf5d14ceb073bc79d0de46bbb6b0cad78eaf"},
{file = "opencv_python-4.10.0.82-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:955c5ce8ac90c9e4636ad7f5c0d9c75b80abbe347182cfd09b0e3eec6e50472c"},
@ -2740,8 +2739,8 @@ files = [
[package.dependencies]
numpy = [
{version = ">=1.23.5", markers = "python_version >= \"3.11\" and python_version < \"3.12\""},
{version = ">=1.26.0", markers = "python_version >= \"3.12\""},
{version = ">=1.23.5", markers = "python_version >= \"3.11\" and python_version < \"3.12\""},
]
[[package]]
@ -2752,7 +2751,6 @@ optional = false
python-versions = ">=3.6"
files = [
{file = "opencv-python-headless-4.10.0.82.tar.gz", hash = "sha256:de9e742c1b9540816fbd115b0b03841d41ed0c65566b0d7a5371f98b131b7e6d"},
{file = "opencv_python_headless-4.10.0.82-cp37-abi3-macosx_11_0_arm64.whl", hash = "sha256:a09ed50ba21cc5bf5d436cb0e784ad09c692d6b1d1454252772f6c8f2c7b4088"},
{file = "opencv_python_headless-4.10.0.82-cp37-abi3-macosx_12_0_x86_64.whl", hash = "sha256:977a5fd21e1fe0d3d2134887db4441f8725abeae95150126302f31fcd9f548fa"},
{file = "opencv_python_headless-4.10.0.82-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:db4ec6755838b0be12510bfc9ffb014779c612418f11f4f7e6f505c36124a3aa"},
{file = "opencv_python_headless-4.10.0.82-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:10a37fa5276967ecf6eb297295b16b28b7a2eb3b568ca0ee469fb1a5954de298"},
@ -2762,8 +2760,8 @@ files = [
[package.dependencies]
numpy = [
{version = ">=1.23.5", markers = "python_version >= \"3.11\" and python_version < \"3.12\""},
{version = ">=1.26.0", markers = "python_version >= \"3.12\""},
{version = ">=1.23.5", markers = "python_version >= \"3.11\" and python_version < \"3.12\""},
]
[[package]]
@ -2927,8 +2925,8 @@ files = [
[package.dependencies]
numpy = [
{version = ">=1.23.2", markers = "python_version == \"3.11\""},
{version = ">=1.26.0", markers = "python_version >= \"3.12\""},
{version = ">=1.23.2", markers = "python_version == \"3.11\""},
]
python-dateutil = ">=2.8.2"
pytz = ">=2020.1"
@ -7367,106 +7365,6 @@ starlette = ["starlette (>=0.19.1)"]
starlite = ["starlite (>=1.48)"]
tornado = ["tornado (>=5)"]
[[package]]
name = "setproctitle"
version = "1.3.3"
description = "A Python module to customize the process title"
optional = false
python-versions = ">=3.7"
files = [
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[package.extras]
test = ["pytest"]
[[package]]
name = "setuptools"
version = "70.0.0"
@ -8114,4 +8012,4 @@ test = ["big-O", "importlib-resources", "jaraco.functools", "jaraco.itertools",
[metadata]
lock-version = "2.0"
python-versions = ">=3.11, <3.13"
content-hash = "c5654418f3c97420a4a2195b42ebfec250623b600658aae03385b2bcf4c058bd"
content-hash = "b5c62b81368f0e972fbcf0dbb88746f3ae930ebdc171ad004c926f3588d1f244"

1
pyproject.toml
View File

@ -137,7 +137,6 @@ future-fstrings = "*"
# these should be removed
psutil = "*"
timezonefinder = "*" # just used for nav ETA
setproctitle = "*"
pycryptodome = "*" # used in updated/casync, panda, body, and a test
[tool.poetry.group.dev.dependencies]

4
scripts/waste.py
View File

@ -3,7 +3,7 @@ import os
import time
import numpy as np
from multiprocessing import Process
from setproctitle import setproctitle
from openpilot.common.threadname import setthreadname
def waste(core):
os.sched_setaffinity(0, [core,])
@ -16,7 +16,7 @@ def waste(core):
j = 0
while 1:
if (i % 100) == 0:
setproctitle("%3d: %8d" % (core, i))
setthreadname("%3d: %8d" % (core, i))
lt = time.monotonic()
print("%3d: %8d %f %.2f" % (core, i, lt-st, j))
st = lt

12
selfdrive/modeld/modeld.py
View File

@ -6,7 +6,7 @@ import numpy as np
import cereal.messaging as messaging
from cereal import car, log
from pathlib import Path
from setproctitle import setproctitle
from openpilot.common.threadname import setthreadname
from cereal.messaging import PubMaster, SubMaster
from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
from openpilot.common.swaglog import cloudlog
@ -24,7 +24,7 @@ from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_
from openpilot.selfdrive.modeld.constants import ModelConstants
from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext
PROCESS_NAME = "selfdrive.modeld.modeld"
THREAD_NAME = "selfdrive.modeld.modeld"
SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
MODEL_PATHS = {
@ -114,9 +114,9 @@ class ModelState:
def main(demo=False):
cloudlog.warning("modeld init")
sentry.set_tag("daemon", PROCESS_NAME)
cloudlog.bind(daemon=PROCESS_NAME)
setproctitle(PROCESS_NAME)
sentry.set_tag("daemon", THREAD_NAME)
cloudlog.bind(daemon=THREAD_NAME)
setthreadname("modeld")
config_realtime_process(7, 54)
cloudlog.warning("setting up CL context")
@ -286,7 +286,7 @@ if __name__ == "__main__":
args = parser.parse_args()
main(demo=args.demo)
except KeyboardInterrupt:
cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
cloudlog.warning(f"child {THREAD_NAME} got SIGINT")
except Exception:
sentry.capture_exception()
raise

32
selfdrive/test/test_onroad.py
View File

@ -36,26 +36,26 @@ PROCS = {
# Baseline CPU usage by process
"selfdrive.controls.controlsd": 32.0,
"selfdrive.car.card": 22.0,
"./loggerd": 14.0,
"./encoderd": 17.0,
"./camerad": 14.5,
"./locationd": 11.0,
"loggerd": 14.0,
"encoderd": 17.0,
"camerad": 14.5,
"locationd": 11.0,
"selfdrive.controls.plannerd": 11.0,
"./ui": 18.0,
"ui": 18.0,
"selfdrive.locationd.paramsd": 9.0,
"./sensord": 7.0,
"sensord": 7.0,
"selfdrive.controls.radard": 7.0,
"selfdrive.modeld.modeld": 13.0,
"modeld": 13.0,
"selfdrive.modeld.dmonitoringmodeld": 8.0,
"system.hardware.hardwared": 3.87,
"selfdrive.locationd.calibrationd": 2.0,
"selfdrive.locationd.torqued": 5.0,
"selfdrive.ui.soundd": 3.5,
"selfdrive.monitoring.dmonitoringd": 4.0,
"./proclogd": 1.54,
"proclogd": 1.54,
"system.logmessaged": 0.2,
"system.tombstoned": 0,
"./logcatd": 0,
"logcatd": 0,
"system.micd": 6.0,
"system.timed": 0,
"selfdrive.pandad.pandad": 0,
@ -67,12 +67,12 @@ PROCS = {
PROCS.update({
"tici": {
"./pandad": 4.0,
"./ubloxd": 0.02,
"pandad": 4.0,
"ubloxd": 0.02,
"system.ubloxd.pigeond": 6.0,
},
"tizi": {
"./pandad": 19.0,
"pandad": 19.0,
"system.qcomgpsd.qcomgpsd": 1.0,
}
}.get(HARDWARE.get_device_type(), {}))
@ -247,8 +247,7 @@ class TestOnroad:
for pl in self.service_msgs['procLog']:
for x in pl.procLog.procs:
if len(x.cmdline) > 0:
n = list(x.cmdline)[0]
plogs_by_proc[n].append(x)
plogs_by_proc[x.name].append(x)
print(plogs_by_proc.keys())
cpu_ok = True
@ -256,8 +255,9 @@ class TestOnroad:
for proc_name, expected_cpu in PROCS.items():
err = ""
exp = "???"
cpu_usage = 0.
x = plogs_by_proc[proc_name]
x = plogs_by_proc[proc_name[-15:]]
if len(x) > 2:
cpu_time = cputime_total(x[-1]) - cputime_total(x[0])
cpu_usage = cpu_time / dt * 100.
@ -309,7 +309,7 @@ class TestOnroad:
assert max(mems) - min(mems) <= 3.0
def test_gpu_usage(self):
assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.modeld.modeld"}
assert self.gpu_procs == {"weston", "ui", "camerad", "modeld"}
def test_camera_processing_time(self):
result = "\n"

4
system/manager/process.py
View File

@ -8,7 +8,7 @@ from collections.abc import Callable, ValuesView
from abc import ABC, abstractmethod
from multiprocessing import Process
from setproctitle import setproctitle
from openpilot.common.threadname import setthreadname
from cereal import car, log
import cereal.messaging as messaging
@ -27,7 +27,7 @@ def launcher(proc: str, name: str) -> None:
mod = importlib.import_module(proc)
# rename the process
setproctitle(proc)
setthreadname(proc)
# create new context since we forked
messaging.context = messaging.Context()