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firestar5683
42 lines
1.6 KiB
Python
42 lines
1.6 KiB
Python
"""Bounded measurements for the existing post-publication overrun report."""
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from collections.abc import Callable
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import time
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PHASES = ('authority_and_preferences', 'longitudinal', 'lateral_planning', 'learning', 'lateral_controller_and_finish')
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PUBLISH_PHASES = ('prepare', 'controls_state_send', 'car_control_send', 'optional_feedback', 'feedback_send_and_diagnostic')
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class ControlCycleTiming:
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def __init__(self, *, wall_clock: Callable[[], int] = time.perf_counter_ns,
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cpu_clock: Callable[[], int] = time.thread_time_ns, phases: tuple[str, ...] = PHASES):
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self.phases = phases
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self.wall_clock, self.cpu_clock = wall_clock, cpu_clock
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self.wall = [0] * len(self.phases)
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self.cpu = [0] * len(self.phases)
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self.count = 0
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self.last_wall = self.last_cpu = 0
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self.overflow = False
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def start(self) -> None:
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self.count = 0
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self.overflow = False
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self.last_wall, self.last_cpu = self.wall_clock(), self.cpu_clock()
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def mark(self) -> None:
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if self.count >= len(self.phases):
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self.overflow = True
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return
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wall, cpu = self.wall_clock(), self.cpu_clock()
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self.wall[self.count], self.cpu[self.count] = wall - self.last_wall, cpu - self.last_cpu
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self.last_wall, self.last_cpu = wall, cpu
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self.count += 1
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def snapshot(self) -> dict[str, dict[str, float]]:
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return {name: {'wall_ms': self.wall[i] / 1e6, 'cpu_ms': self.cpu[i] / 1e6}
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for i, name in enumerate(self.phases[:self.count])}
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@property
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def complete(self) -> bool:
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return self.count == len(self.phases) and not self.overflow
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