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Compile FrogPilot

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This commit is contained in:
FrogAi
2024-03-10 20:59:55 -07:00
parent 69e7feaf01
commit f1acd339d7
1485 changed files with 426154 additions and 398339 deletions
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2
selfdrive/test/profiling/.gitignore vendored
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cachegrind.out.*
*.prof

0
selfdrive/test/profiling/__init__.py
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91
selfdrive/test/profiling/lib.py
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from collections import defaultdict, deque
from cereal.services import SERVICE_LIST
import cereal.messaging as messaging
import capnp
class ReplayDone(Exception):
pass
class SubSocket():
def __init__(self, msgs, trigger):
self.i = 0
self.trigger = trigger
self.msgs = [m.as_builder().to_bytes() for m in msgs if m.which() == trigger]
self.max_i = len(self.msgs) - 1
def receive(self, non_blocking=False):
if non_blocking:
return None
if self.i == self.max_i:
raise ReplayDone
while True:
msg = self.msgs[self.i]
self.i += 1
return msg
class PubSocket():
def send(self, data):
pass
class SubMaster(messaging.SubMaster):
def __init__(self, msgs, trigger, services, check_averag_freq=False):
self.frame = 0
self.data = {}
self.ignore_alive = []
self.alive = {s: True for s in services}
self.updated = {s: False for s in services}
self.rcv_time = {s: 0. for s in services}
self.rcv_frame = {s: 0 for s in services}
self.valid = {s: True for s in services}
self.freq_ok = {s: True for s in services}
self.recv_dts = {s: deque([0.0] * messaging.AVG_FREQ_HISTORY, maxlen=messaging.AVG_FREQ_HISTORY) for s in services}
self.logMonoTime = {}
self.sock = {}
self.freq = {}
self.check_average_freq = check_averag_freq
self.non_polled_services = []
self.ignore_average_freq = []
# TODO: specify multiple triggers for service like plannerd that poll on more than one service
cur_msgs = []
self.msgs = []
msgs = [m for m in msgs if m.which() in services]
for msg in msgs:
cur_msgs.append(msg)
if msg.which() == trigger:
self.msgs.append(cur_msgs)
cur_msgs = []
self.msgs = list(reversed(self.msgs))
for s in services:
self.freq[s] = SERVICE_LIST[s].frequency
try:
data = messaging.new_message(s)
except capnp.lib.capnp.KjException:
# lists
data = messaging.new_message(s, 0)
self.data[s] = getattr(data, s)
self.logMonoTime[s] = 0
self.sock[s] = SubSocket(msgs, s)
def update(self, timeout=None):
if not len(self.msgs):
raise ReplayDone
cur_msgs = self.msgs.pop()
self.update_msgs(cur_msgs[0].logMonoTime, self.msgs.pop())
class PubMaster(messaging.PubMaster):
def __init__(self):
self.sock = defaultdict(PubSocket)

97
selfdrive/test/profiling/profiler.py
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#!/usr/bin/env python3
import os
import sys
import cProfile
import pprofile
import pyprof2calltree
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
from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
from openpilot.selfdrive.car.honda.values import CAR as HONDA
from openpilot.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 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])