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Reduce plannerd and dmonitoringd CPU usage (#2108)

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* fix wasted cycles in locationd and dmonitoringd

* bump cereal

* calibrationd

* Revert "calibrationd"

This reverts commit 580051a33bc96e1e83300629e9c04817928d0851.

* this is cleaner

* calibrationd

* paramsd is driven by liveLocationKalman

* only log params once a minute

* stricter CPU usage test

* revert locationd for now

* revert calibrationd too

* revert thresholds
old-commit-hash: 21fbe26980
This commit is contained in:
Adeeb Shihadeh
2020-09-01 16:41:09 -07:00
committed by GitHub
parent 5df9b62742
commit 6eddfac1a6
4 changed files with 37 additions and 37 deletions
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selfdrive/test/test_cpu_usage.py
+6 -6
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@@ -16,21 +16,21 @@ def cputime_total(ct):
def print_cpu_usage(first_proc, last_proc):
procs = [
("selfdrive.controls.controlsd", 66.15),
("selfdrive.locationd.locationd", 34.38),
("./loggerd", 33.90),
("selfdrive.controls.plannerd", 19.77),
("./_modeld", 12.74),
("selfdrive.locationd.locationd", 29.5),
("selfdrive.controls.plannerd", 11.84),
("selfdrive.locationd.paramsd", 11.53),
("./_modeld", 7.12),
("selfdrive.controls.radard", 9.54),
("./_ui", 9.54),
("./camerad", 7.07),
("selfdrive.locationd.calibrationd", 6.81),
("./_sensord", 6.17),
("selfdrive.monitoring.dmonitoringd", 5.48),
("selfdrive.locationd.calibrationd", 6.0),
("./boardd", 3.63),
("./_dmonitoringmodeld", 2.67),
("selfdrive.logmessaged", 2.71),
("selfdrive.thermald.thermald", 2.41),
("selfdrive.monitoring.dmonitoringd", 1.90),
("./proclogd", 1.54),
("./_gpsd", 0.09),
("./clocksd", 0.02),
@@ -51,7 +51,7 @@ def print_cpu_usage(first_proc, last_proc):
if cpu_usage > max(normal_cpu_usage * 1.1, normal_cpu_usage + 5.0):
result += f"Warning {proc_name} using more CPU than normal\n"
r = False
elif cpu_usage < min(normal_cpu_usage * 0.3, max(normal_cpu_usage - 1.0, 0.0)):
elif cpu_usage < min(normal_cpu_usage * 0.65, max(normal_cpu_usage - 1.0, 0.0)):
result += f"Warning {proc_name} using less CPU than normal\n"
r = False
result += f"{proc_name.ljust(35)} {cpu_usage:.2f}%\n"