openpilot v0.5.11 release

selfdrive/debug/can_printer.py

@@ -29,7 +29,7 @@ def can_printer(bus=0, max_msg=None, addr="127.0.0.1"):
       for k,v in sorted(zip(msgs.keys(), map(lambda x: x[-1].encode("hex"), msgs.values()))):
         if max_msg is None or k < max_msg:
           dd += "%s(%6d) %s\n" % ("%04X(%4d)" % (k,k),len(msgs[k]), v)
-      print dd
+      print(dd)
       lp = sec_since_boot()
 
 if __name__ == "__main__":

selfdrive/debug/cpu_usage_stat.py

@@ -0,0 +1,99 @@
+import psutil
+import time
+import os
+import sys
+import numpy as np
+import argparse
+import re
+
+'''
+System tools like top/htop can only show current cpu usage values, so I write this script to do statistics jobs.
+  Features:
+    Use psutil library to sample cpu usage(avergage for all cores) of OpenPilot processes, at a rate of 5 samples/sec.
+    Do cpu usage statistics periodically, 5 seconds as a cycle.
+    Caculate the average cpu usage within this cycle.
+    Caculate minumium/maximium/accumulated_average cpu usage as long term inspections.
+    Monitor multiple processes simuteneously.
+  Sample usage:
+    root@localhost:/data/openpilot$ python selfdrive/debug/cpu_usage_stat.py boardd,ubloxd
+    ('Add monitored proc:', './boardd')
+    ('Add monitored proc:', 'python locationd/ubloxd.py')
+    boardd: 1.96%, min: 1.96%, max: 1.96%, acc: 1.96%
+    ubloxd.py: 0.39%, min: 0.39%, max: 0.39%, acc: 0.39%
+'''
+
+# Do statistics every 5 seconds
+PRINT_INTERVAL = 5
+SLEEP_INTERVAL = 0.2
+
+monitored_proc_names = [
+  'ubloxd', 'thermald', 'uploader', 'controlsd', 'plannerd', 'radard', 'mapd', 'loggerd' , 'logmessaged', 'tombstoned',
+  'logcatd', 'proclogd', 'boardd', 'pandad', './ui', 'calibrationd', 'locationd', 'visiond', 'sensord', 'updated', 'gpsd', 'athena']
+
+
+def get_arg_parser():
+  parser = argparse.ArgumentParser(
+    description="Unlogger and UI",
+    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+
+  parser.add_argument("proc_names", nargs="?", default='',
+                      help="Process names to be monitored, comma seperated")
+  parser.add_argument("--list_all", nargs="?", type=bool, default=False,
+                      help="Show all running processes' cmdline")
+  return parser
+
+
+if __name__ == "__main__":
+  args = get_arg_parser().parse_args(sys.argv[1:])
+  if args.list_all:
+    for p in psutil.process_iter():
+      print('cmdline', p.cmdline(), 'name', p.name())
+    sys.exit(0)
+
+  if len(args.proc_names) > 0:
+    monitored_proc_names = args.proc_names.split(',')
+  monitored_procs = []
+  stats = {}
+  for p in psutil.process_iter():
+    if p == psutil.Process():
+      continue
+    matched = any([l for l in p.cmdline() if any([pn for pn in monitored_proc_names if re.match(r'.*{}.*'.format(pn), l, re.M | re.I)])])
+    if matched:
+      k = ' '.join(p.cmdline())
+      print('Add monitored proc:', k)
+      stats[k] = {'cpu_samples': [], 'avg_cpu': None, 'min': None, 'max': None}
+      monitored_procs.append(p)
+  i = 0
+  interval_int = int(PRINT_INTERVAL / SLEEP_INTERVAL)
+  while True:
+    for p in monitored_procs:
+      k = ' '.join(p.cmdline())
+      stats[k]['cpu_samples'].append(p.cpu_percent())
+    time.sleep(SLEEP_INTERVAL)
+    i += 1
+    if i % interval_int == 0:
+      l = []
+      avg_cpus = []
+      for k, stat in stats.items():
+        if len(stat['cpu_samples']) <= 0:
+          continue
+        avg_cpu = np.array(stat['cpu_samples']).mean()
+        c = len(stat['cpu_samples'])
+        stat['cpu_samples'] = []
+        if not stat['avg_cpu']:
+          stat['avg_cpu'] = avg_cpu
+        else:
+          stat['avg_cpu'] = (stat['avg_cpu'] * (c + i) + avg_cpu * c) / (c + i + c)
+        if not stat['min'] or avg_cpu < stat['min']:
+          stat['min'] = avg_cpu
+        if not stat['max'] or avg_cpu > stat['max']:
+          stat['max'] = avg_cpu
+        msg = 'avg: {1:.2f}%, min: {2:.2f}%, max: {3:.2f}% {0}'.format(os.path.basename(k), stat['avg_cpu'], stat['min'], stat['max'])
+        l.append((os.path.basename(k), avg_cpu, msg))
+        avg_cpus.append(avg_cpu)
+      l.sort(key= lambda x: -x[1])
+      for x in l:
+        print(x[2])
+      print('avg sum: {0:.2f}%\n'.format(
+        sum([stat['avg_cpu'] for k, stat in stats.items()])
+      ))

selfdrive/debug/dump.py

@@ -52,7 +52,7 @@ if __name__ == "__main__":
     server_thread = Thread(target=run_server, args=(socketio,))
     server_thread.daemon = True
     server_thread.start()
-    print 'server running'
+    print('server running')
 
   values = None
   if args.values:
@@ -68,7 +68,7 @@ if __name__ == "__main__":
       if sock in republish_socks:
         republish_socks[sock].send(msg)
       if args.map and evt.which() == 'liveLocation':
-        print 'send loc'
+        print('send loc')
         socketio.emit('location', {
           'lat': evt.liveLocation.lat,
           'lon': evt.liveLocation.lon,
@@ -83,15 +83,15 @@ if __name__ == "__main__":
         elif args.json:
           print(json.loads(msg))
         elif args.dump_json:
-          print json.dumps(evt.to_dict())
+          print(json.dumps(evt.to_dict()))
         elif values:
-          print "logMonotime = {}".format(evt.logMonoTime)
+          print("logMonotime = {}".format(evt.logMonoTime))
           for value in values:
             if hasattr(evt, value[0]):
               item = evt
               for key in value:
                 item = getattr(item, key)
-              print "{} = {}".format(".".join(value), item)
-          print ""
+              print("{} = {}".format(".".join(value), item))
+          print("")
         else:
-          print evt
+          print(evt)

selfdrive/debug/get_fingerprint.py

@@ -26,5 +26,5 @@ while True:
 
   fingerprint = ', '.join("%d: %d" % v for v in sorted(msgs.items()))
 
-  print "number of messages:", len(msgs)
-  print "fingerprint", fingerprint
+  print("number of messages {0}:".format(len(msgs)))
+  print("fingerprint {0}".format(fingerprint))

selfdrive/debug/getframes/getframes.py

@@ -98,4 +98,4 @@ def getframes(front=False):
 
 if __name__ == "__main__":
   for buf in getframes():
-    print buf.shape, buf[101, 101]
+    print("{0} {1}".format(buf.shape, buf[101, 101]))