Write profiling result after running

old-commit-hash: 079c9e714b5286d197cd0ba3f49340e6b0ae101a

Pipfile

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e19acadcb1eb0b3cb611d5a0e1ba42a6e66dd8154b2253eaca6fdf8a5dc50dd6
-size 2015
+oid sha256:94e2c66a6fa302e7647173231d4216d592804d511959ebce167ee9fa1aecfeb0
+size 2037

Pipfile.lock

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:eff5186468aa27655069d55973dcacdaddd5140b37a5758f58180de6359446f7
-size 164191
+oid sha256:b54f699108a7a9df59fd5b98f505426c8b81860dbe3a6b1a50d55729deb24079
+size 164420

selfdrive/test/profiling/.gitignore

@@ -0,0 +1 @@
+*.kgrind

selfdrive/test/profiling/controlsd.py

@@ -1,5 +1,9 @@
 #!/usr/bin/env python3
 
+import cProfile
+
+import pyprof2calltree
+
 from tools.lib.logreader import LogReader
 from selfdrive.controls.controlsd import controlsd_thread
 from selfdrive.test.profiling.lib import SubMaster, PubMaster, SubSocket, ReplayDone
@@ -18,7 +22,10 @@ if __name__ == "__main__":
   sm = SubMaster(msgs, 'can', ['thermal', 'health', 'liveCalibration', 'dMonitoringState', 'plan', 'pathPlan', 'model'])
   can_sock = SubSocket(msgs, 'can')
 
-  try:
-    controlsd_thread(sm, pm, can_sock)
-  except ReplayDone:
-    pass
+  with cProfile.Profile() as pr:
+    try:
+      controlsd_thread(sm, pm, can_sock)
+    except ReplayDone:
+      pass
+
+  pyprof2calltree.convert(pr.getstats(), 'controlsd.kgrind')