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Reduce pub-sub memory usage by 10x (#36884)

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less mem
This commit is contained in:
Adeeb Shihadeh
2025-12-16 13:27:14 -08:00
committed by GitHub
parent 545f7c6f2a
commit bcdeec3133
10 changed files with 144 additions and 29 deletions
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system/loggerd/loggerd.cc
+1 -1
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@@ -238,7 +238,7 @@ void loggerd_thread() {
if (it.should_log || (encoder && !livestream_encoder) || record_audio) {
LOGD("logging %s", it.name.c_str());
SubSocket * sock = SubSocket::create(ctx.get(), it.name);
SubSocket * sock = SubSocket::create(ctx.get(), it.name, "127.0.0.1", false, true, it.queue_size);
assert(sock != NULL);
poller->registerSocket(sock);
service_state[sock] = {
system/loggerd/tests/test_loggerd.py
+10 -5
View File
@@ -24,7 +24,6 @@ from openpilot.system.version import get_version
from openpilot.tools.lib.helpers import RE
from openpilot.tools.lib.logreader import LogReader
from msgq.visionipc import VisionIpcServer, VisionStreamType
from openpilot.common.transformations.camera import DEVICE_CAMERAS
SentinelType = log.Sentinel.SentinelType
@@ -99,13 +98,17 @@ class TestLoggerd:
return sent_msgs
def _publish_camera_and_audio_messages(self, num_segs=1, segment_length=5):
d = DEVICE_CAMERAS[("tici", "ar0231")]
# Use small frame sizes for testing (width, height, size, stride, uv_offset)
# NV12 format: size = stride * height * 1.5, uv_offset = stride * height
w, h = 320, 240
frame_spec = (w, h, w * h * 3 // 2, w, w * h)
streams = [
(VisionStreamType.VISION_STREAM_ROAD, (d.fcam.width, d.fcam.height, 2048 * 2346, 2048, 2048 * 1216), "roadCameraState"),
(VisionStreamType.VISION_STREAM_DRIVER, (d.dcam.width, d.dcam.height, 2048 * 2346, 2048, 2048 * 1216), "driverCameraState"),
(VisionStreamType.VISION_STREAM_WIDE_ROAD, (d.ecam.width, d.ecam.height, 2048 * 2346, 2048, 2048 * 1216), "wideRoadCameraState"),
(VisionStreamType.VISION_STREAM_ROAD, frame_spec, "roadCameraState"),
(VisionStreamType.VISION_STREAM_DRIVER, frame_spec, "driverCameraState"),
(VisionStreamType.VISION_STREAM_WIDE_ROAD, frame_spec, "wideRoadCameraState"),
]
sm = messaging.SubMaster(["roadEncodeData"])
pm = messaging.PubMaster([s for _, _, s in streams] + ["rawAudioData"])
vipc_server = VisionIpcServer("camerad")
for stream_type, frame_spec, _ in streams:
@@ -139,6 +142,8 @@ class TestLoggerd:
for _, _, state in streams:
assert pm.wait_for_readers_to_update(state, timeout=5, dt=0.001)
sm.update(100) # wait for encode data publish
managed_processes["loggerd"].stop()
managed_processes["encoderd"].stop()