mirror of
https://github.com/dragonpilot/dragonpilot.git
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Vehicle Researcher
6adb63b915
date: 2026-06-04T09:49:56 master commit: c0ab3550eca2e9daf197c46b7e4b24aa9637cf2e
109 lines
3.7 KiB
Python
Executable File
109 lines
3.7 KiB
Python
Executable File
#!/usr/bin/env python3
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import os
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import time
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import cProfile
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import pyray as rl
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import numpy as np
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from msgq.visionipc import VisionIpcServer, VisionStreamType
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from openpilot.selfdrive.ui.ui_state import ui_state
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from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
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from openpilot.system.ui.lib.application import gui_app
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from openpilot.tools.lib.logreader import LogReader
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FPS = 60
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def chunk_messages_by_time(messages):
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dt_ns = 1e9 / FPS
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chunks = []
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current_services = {}
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next_time = messages[0].logMonoTime + dt_ns if messages else 0
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for msg in messages:
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if msg.logMonoTime >= next_time:
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chunks.append(current_services)
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current_services = {}
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next_time += dt_ns * ((msg.logMonoTime - next_time) // dt_ns + 1)
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current_services[msg.which()] = msg
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if current_services:
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chunks.append(current_services)
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return chunks
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def patch_submaster(message_chunks):
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def mock_update(timeout=None):
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sm = ui_state.sm
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sm.updated = dict.fromkeys(sm.services, False)
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current_time = time.monotonic()
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for service, msg in message_chunks[sm.frame].items():
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if service in sm.data:
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sm.seen[service] = True
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sm.updated[service] = True
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msg_builder = msg.as_builder()
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sm.data[service] = getattr(msg_builder, service)
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sm.logMonoTime[service] = msg.logMonoTime
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sm.recv_time[service] = current_time
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sm.recv_frame[service] = sm.frame
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sm.valid[service] = True
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sm.frame += 1
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ui_state.sm.update = mock_update
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if __name__ == "__main__":
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import argparse
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parser = argparse.ArgumentParser(description='Profile openpilot UI rendering and state updates')
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parser.add_argument('route', type=str, nargs='?', default="302bab07c1511180/00000006--0b9a7005f1/3",
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help='Route to use for profiling')
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parser.add_argument('--loop', type=int, default=1,
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help='Number of times to loop the log (default: 1)')
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parser.add_argument('--output', type=str, default='cachegrind.out.ui',
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help='Output file prefix (default: cachegrind.out.ui)')
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parser.add_argument('--max-seconds', type=float, default=None,
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help='Maximum seconds of messages to process (default: all)')
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parser.add_argument('--headless', action='store_true',
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help='Run in headless mode without GPU (for CI/testing)')
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args = parser.parse_args()
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print(f"Loading log from {args.route}...")
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lr = LogReader(args.route, sort_by_time=True)
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messages = list(lr) * args.loop
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print("Chunking messages...")
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message_chunks = chunk_messages_by_time(messages)
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if args.max_seconds:
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message_chunks = message_chunks[:int(args.max_seconds * FPS)]
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print("Initializing UI with GPU rendering...")
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if args.headless:
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os.environ['SDL_VIDEODRIVER'] = 'dummy'
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gui_app.init_window("UI Profiling", fps=600)
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main_layout = MiciMainLayout()
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print("Running...")
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patch_submaster(message_chunks)
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W, H = 2048, 1216
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vipc = VisionIpcServer("camerad")
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vipc.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, W, H)
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vipc.start_listener()
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yuv_buffer_size = W * H + (W // 2) * (H // 2) * 2
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yuv_data = np.random.randint(0, 256, yuv_buffer_size, dtype=np.uint8).tobytes()
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with cProfile.Profile() as pr:
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for _ in gui_app.render():
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if ui_state.sm.frame >= len(message_chunks):
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break
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if ui_state.sm.frame % 3 == 0:
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eof = int((ui_state.sm.frame % 3) * 0.05 * 1e9)
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vipc.send(VisionStreamType.VISION_STREAM_ROAD, yuv_data, ui_state.sm.frame % 3, eof, eof)
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ui_state.update()
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pr.dump_stats(f'{args.output}_deterministic.stats')
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rl.close_window()
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print("\nProfiling complete!")
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print(f" run: python -m pstats {args.output}_deterministic.stats")
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