mirror of
https://github.com/infiniteCable2/openpilot.git
synced 2026-08-24 01:43:44 +08:00
Merge commit '91b067cca0913d0cc9f8b5dab68e3302e278efdc' into sync-20260716
# Conflicts: # .github/labeler.yaml # .github/workflows/auto_pr_review.yaml # .github/workflows/docs.yaml # .github/workflows/release.yaml # .github/workflows/repo-maintenance.yaml # .github/workflows/tests.yaml # .github/workflows/ui_preview.yaml # README.md # SConstruct # conftest.py # docs/CARS.md # msgq_repo # opendbc_repo # openpilot/cereal/messaging/tests/validate_sp_cereal_upstream.py # openpilot/common/api.py # openpilot/common/hardware/hw.py # openpilot/common/version.py # openpilot/selfdrive/assets/fonts/Audiowide-Regular.ttf # openpilot/selfdrive/assets/sounds/prompt_single_high.wav # openpilot/selfdrive/assets/sounds/prompt_single_low.wav # openpilot/selfdrive/car/card.py # openpilot/selfdrive/car/helpers.py # openpilot/selfdrive/car/tests/test_car_interfaces.py # openpilot/selfdrive/car/tests/test_cruise_speed.py # openpilot/selfdrive/controls/lib/desire_helper.py # openpilot/selfdrive/controls/lib/longcontrol.py # openpilot/selfdrive/controls/plannerd.py # openpilot/selfdrive/controls/radard.py # openpilot/selfdrive/controls/tests/test_longcontrol.py # openpilot/selfdrive/modeld/compile_warp.py # openpilot/selfdrive/modeld/modeld.py # openpilot/selfdrive/monitoring/policy.py # openpilot/selfdrive/monitoring/test_monitoring.py # openpilot/selfdrive/selfdrived/events.py # openpilot/selfdrive/selfdrived/selfdrived.py # openpilot/selfdrive/ui/layouts/onboarding.py # openpilot/selfdrive/ui/mici/layouts/onboarding.py # openpilot/selfdrive/ui/soundd.py # openpilot/selfdrive/ui/tests/diff/replay.py # openpilot/selfdrive/ui/translations/app.pot # openpilot/system/athena/athenad.py # openpilot/system/athena/manage_athenad.py # openpilot/system/hardware/hardwared.py # openpilot/system/loggerd/config.py # openpilot/system/manager/github_runner.sh # openpilot/system/manager/manager.py # openpilot/system/updated/updated.py # panda # pyproject.toml # scripts/lint/lint.sh # system/manager/process_config.py # system/statsd.py # tinygrad_repo # tools/release/build_release.sh # tools/release/build_stripped.sh # uv.lock
This commit is contained in:
Jason Wen
@@ -5,7 +5,7 @@ set -euo pipefail
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while IFS=' ' read -r name port; do
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adb forward "tcp:${port}" "tcp:${port}" > /dev/null
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done < <(python3 - <<'PY'
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from cereal.services import SERVICE_LIST
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from openpilot.cereal.services import SERVICE_LIST
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FNV_PRIME = 0x100000001b3
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FNV_OFFSET_BASIS = 0xcbf29ce484222325
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@@ -4,8 +4,8 @@ import binascii
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import time
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from collections import defaultdict
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import cereal.messaging as messaging
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from openpilot.tools.scripts.can_table import can_table
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import openpilot.cereal.messaging as messaging
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from tools.scripts.car.can_table import can_table
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from openpilot.tools.lib.logreader import LogIterable, LogReader
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RED = '\033[91m'
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@@ -4,7 +4,7 @@ import binascii
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import time
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from collections import defaultdict
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import cereal.messaging as messaging
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import openpilot.cereal.messaging as messaging
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def can_printer(bus, max_msg, addr, ascii_decode):
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@@ -2,7 +2,7 @@
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import argparse
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import pandas as pd
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import cereal.messaging as messaging
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import openpilot.cereal.messaging as messaging
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def can_table(dat):
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@@ -1,6 +1,6 @@
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#!/usr/bin/env python3
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import time
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import cereal.messaging as messaging
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import openpilot.cereal.messaging as messaging
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from opendbc.car.disable_ecu import disable_ecu
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from openpilot.selfdrive.car.card import can_comm_callbacks
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@@ -1,7 +1,7 @@
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#!/usr/bin/env python3
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import argparse
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import time
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import cereal.messaging as messaging
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import openpilot.cereal.messaging as messaging
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from opendbc.car.carlog import carlog
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from opendbc.car.ecu_addrs import get_all_ecu_addrs
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from openpilot.common.params import Params
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@@ -26,9 +26,9 @@ if __name__ == "__main__":
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# Set up params for pandad
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params = Params()
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params.remove("FirmwareQueryDone")
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params.put_bool("IsOnroad", False, block=True)
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params.put_bool("IsOffroad", True, block=True)
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time.sleep(0.2) # thread is 10 Hz
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params.put_bool("IsOnroad", True, block=True)
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params.put_bool("IsOffroad", False, block=True)
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obd_callback(params)(not args.no_obd)
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@@ -1,8 +1,8 @@
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#!/usr/bin/env python3
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import time
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import argparse
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import cereal.messaging as messaging
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from cereal import car
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import openpilot.cereal.messaging as messaging
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from opendbc.car.structs import car
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from opendbc.car.carlog import carlog
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from opendbc.car.fw_versions import get_fw_versions, match_fw_to_car
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from opendbc.car.vin import get_vin
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@@ -30,9 +30,9 @@ if __name__ == "__main__":
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# Set up params for pandad
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params = Params()
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params.remove("FirmwareQueryDone")
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params.put_bool("IsOnroad", False, block=True)
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params.put_bool("IsOffroad", True, block=True)
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time.sleep(0.2) # thread is 10 Hz
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params.put_bool("IsOnroad", True, block=True)
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params.put_bool("IsOffroad", False, block=True)
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set_obd_multiplexing = obd_callback(params)
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extra: Any = None
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@@ -15,7 +15,6 @@ import sys
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import argparse
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from typing import NamedTuple
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from subprocess import check_output, CalledProcessError
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from opendbc.car.carlog import carlog
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from opendbc.car.uds import UdsClient, SESSION_TYPE, DATA_IDENTIFIER_TYPE
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from opendbc.car.structs import CarParams
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@@ -6,8 +6,8 @@ import struct
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from collections import deque
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from statistics import mean
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from cereal import log
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import cereal.messaging as messaging
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from openpilot.cereal import log
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import openpilot.cereal.messaging as messaging
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if __name__ == "__main__":
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@@ -1,7 +1,7 @@
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#!/usr/bin/env python3
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import argparse
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import time
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import cereal.messaging as messaging
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import openpilot.cereal.messaging as messaging
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from opendbc.car.carlog import carlog
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from opendbc.car.vin import get_vin
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from openpilot.selfdrive.car.card import can_comm_callbacks
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@@ -6,7 +6,7 @@ from collections import Counter
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from pprint import pprint
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from typing import cast
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from cereal.services import SERVICE_LIST
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from openpilot.cereal.services import SERVICE_LIST
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from openpilot.tools.lib.logreader import LogReader, ReadMode
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from openpilot.selfdrive.test.process_replay.migration import migrate_all
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@@ -1,120 +0,0 @@
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#!/usr/bin/env python3
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'''
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System tools like top/htop can only show current cpu usage values, so I write this script to do statistics jobs.
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Features:
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Use psutil library to sample cpu usage(avergage for all cores) of openpilot processes, at a rate of 5 samples/sec.
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Do cpu usage statistics periodically, 5 seconds as a cycle.
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Calculate the average cpu usage within this cycle.
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Calculate minumium/maximum/accumulated_average cpu usage as long term inspections.
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Monitor multiple processes simuteneously.
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Sample usage:
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root@localhost:/data/openpilot$ python tools/scripts/cpu_usage_stat.py pandad,ubloxd
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('Add monitored proc:', './pandad')
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('Add monitored proc:', 'python locationd/ubloxd.py')
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pandad: 1.96%, min: 1.96%, max: 1.96%, acc: 1.96%
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ubloxd.py: 0.39%, min: 0.39%, max: 0.39%, acc: 0.39%
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'''
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import psutil
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import time
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import os
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import sys
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import numpy as np
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import argparse
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import re
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from collections import defaultdict
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from openpilot.system.manager.process_config import managed_processes
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# Do statistics every 5 seconds
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PRINT_INTERVAL = 5
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SLEEP_INTERVAL = 0.2
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monitored_proc_names = [
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# android procs
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'SurfaceFlinger', 'sensors.qcom'
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] + list(managed_processes.keys())
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cpu_time_names = ['user', 'system', 'children_user', 'children_system']
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def get_arg_parser():
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parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
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parser.add_argument("proc_names", nargs="?", default='',
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help="Process names to be monitored, comma separated")
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parser.add_argument("--list_all", action='store_true',
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help="Show all running processes' cmdline")
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parser.add_argument("--detailed_times", action='store_true',
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help="show cpu time details (split by user, system, child user, child system)")
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return parser
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if __name__ == "__main__":
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args = get_arg_parser().parse_args(sys.argv[1:])
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if args.list_all:
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for p in psutil.process_iter():
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print('cmdline', p.cmdline(), 'name', p.name())
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sys.exit(0)
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if len(args.proc_names) > 0:
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monitored_proc_names = args.proc_names.split(',')
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monitored_procs = []
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stats = {}
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for p in psutil.process_iter():
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if p == psutil.Process():
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continue
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matched = any(l for l in p.cmdline() if any(pn for pn in monitored_proc_names if re.match(fr'.*{pn}.*', l, re.M | re.I)))
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if matched:
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k = ' '.join(p.cmdline())
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print('Add monitored proc:', k)
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stats[k] = {'cpu_samples': defaultdict(list), 'min': defaultdict(lambda: None), 'max': defaultdict(lambda: None),
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'avg': defaultdict(float), 'last_cpu_times': None, 'last_sys_time': None}
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stats[k]['last_sys_time'] = time.monotonic()
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stats[k]['last_cpu_times'] = p.cpu_times()
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monitored_procs.append(p)
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i = 0
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interval_int = int(PRINT_INTERVAL / SLEEP_INTERVAL)
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while True:
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for p in monitored_procs:
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k = ' '.join(p.cmdline())
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cur_sys_time = time.monotonic()
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cur_cpu_times = p.cpu_times()
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cpu_times = np.subtract(cur_cpu_times, stats[k]['last_cpu_times']) / (cur_sys_time - stats[k]['last_sys_time'])
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stats[k]['last_sys_time'] = cur_sys_time
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stats[k]['last_cpu_times'] = cur_cpu_times
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cpu_percent = 0
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for num, name in enumerate(cpu_time_names):
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stats[k]['cpu_samples'][name].append(cpu_times[num])
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cpu_percent += cpu_times[num]
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stats[k]['cpu_samples']['total'].append(cpu_percent)
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time.sleep(SLEEP_INTERVAL)
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i += 1
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if i % interval_int == 0:
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l = []
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for k, stat in stats.items():
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if len(stat['cpu_samples']) <= 0:
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continue
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for name, samples in stat['cpu_samples'].items():
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samples = np.array(samples)
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avg = samples.mean()
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c = samples.size
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min_cpu = np.amin(samples)
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max_cpu = np.amax(samples)
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if stat['min'][name] is None or min_cpu < stat['min'][name]:
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stat['min'][name] = min_cpu
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if stat['max'][name] is None or max_cpu > stat['max'][name]:
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stat['max'][name] = max_cpu
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stat['avg'][name] = (stat['avg'][name] * (i - c) + avg * c) / (i)
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stat['cpu_samples'][name] = []
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msg = f"avg: {stat['avg']['total']:.2%}, min: {stat['min']['total']:.2%}, max: {stat['max']['total']:.2%} {os.path.basename(k)}"
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if args.detailed_times:
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for stat_type in ['avg', 'min', 'max']:
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msg += f"\n {stat_type}: {[(name + ':' + str(round(stat[stat_type][name] * 100, 2))) for name in cpu_time_names]}"
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l.append((os.path.basename(k), stat['avg']['total'], msg))
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l.sort(key=lambda x: -x[1])
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for x in l:
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print(x[2])
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print('avg sum: {:.2%} over {} samples {} seconds\n'.format(
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sum(stat['avg']['total'] for k, stat in stats.items()), i, i * SLEEP_INTERVAL
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))
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@@ -2,8 +2,9 @@
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import time
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import random
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from cereal import car, log
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import cereal.messaging as messaging
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from openpilot.cereal import log
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from opendbc.car.structs import car
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import openpilot.cereal.messaging as messaging
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from opendbc.car.honda.interface import CarInterface
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from openpilot.common.realtime import DT_CTRL
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from openpilot.selfdrive.selfdrived.events import ET, Events
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@@ -1,6 +1,5 @@
|
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#!/usr/bin/env python3
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import argparse
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|
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from opendbc.car import uds
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from openpilot.tools.lib.live_logreader import live_logreader
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from openpilot.tools.lib.logreader import LogReader, ReadMode
|
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@@ -4,8 +4,8 @@ import argparse
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import json
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import codecs
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from cereal import log
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from cereal.services import SERVICE_LIST
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from openpilot.cereal import log
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from openpilot.cereal.services import SERVICE_LIST
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from openpilot.tools.lib.live_logreader import raw_live_logreader
|
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|
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|
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@@ -25,7 +25,7 @@ def hexdump(msg):
|
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|
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if __name__ == "__main__":
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|
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parser = argparse.ArgumentParser(description='Dump communication sockets. See cereal/services.py for a complete list of available sockets.')
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parser = argparse.ArgumentParser(description='Dump communication sockets. See openpilot/cereal/services.py for a complete list of available sockets.')
|
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parser.add_argument('--pipe', action='store_true')
|
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parser.add_argument('--raw', action='store_true')
|
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parser.add_argument('--json', action='store_true')
|
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|
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@@ -2,7 +2,7 @@
|
||||
import argparse
|
||||
import json
|
||||
|
||||
import cereal.messaging as messaging
|
||||
import openpilot.cereal.messaging as messaging
|
||||
from openpilot.tools.lib.logreader import LogReader
|
||||
|
||||
LEVELS = {
|
||||
@@ -13,7 +13,7 @@ LEVELS = {
|
||||
"CRITICAL": 50,
|
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}
|
||||
|
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ANDROID_LOG_SOURCE = {
|
||||
OPERATING_SYSTEM_LOG_SOURCE = {
|
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0: "MAIN",
|
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1: "RADIO",
|
||||
2: "EVENTS",
|
||||
@@ -34,8 +34,8 @@ def print_logmessage(t, msg, min_level):
|
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print(f"[{t / 1e9:.6f}] decode error: {msg}")
|
||||
|
||||
|
||||
def print_androidlog(t, msg):
|
||||
source = ANDROID_LOG_SOURCE[msg.id]
|
||||
def print_operating_system_log(t, msg):
|
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source = msg.tag or OPERATING_SYSTEM_LOG_SOURCE.get(msg.id, "SYSTEM")
|
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try:
|
||||
m = json.loads(msg.message)['MESSAGE']
|
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except Exception:
|
||||
@@ -65,15 +65,15 @@ if __name__ == "__main__":
|
||||
print_logmessage(m.logMonoTime-st, m.logMessage, min_level)
|
||||
elif m.which() == 'errorLogMessage':
|
||||
print_logmessage(m.logMonoTime-st, m.errorLogMessage, min_level)
|
||||
elif m.which() == 'androidLog':
|
||||
print_androidlog(m.logMonoTime-st, m.androidLog)
|
||||
elif m.which() == 'operatingSystemLog':
|
||||
print_operating_system_log(m.logMonoTime-st, m.operatingSystemLog)
|
||||
else:
|
||||
sm = messaging.SubMaster(['logMessage', 'androidLog'], addr=args.addr)
|
||||
sm = messaging.SubMaster(['logMessage', 'operatingSystemLog'], addr=args.addr)
|
||||
while True:
|
||||
sm.update()
|
||||
|
||||
if sm.updated['logMessage']:
|
||||
print_logmessage(sm.logMonoTime['logMessage'], sm['logMessage'], min_level)
|
||||
|
||||
if sm.updated['androidLog']:
|
||||
print_androidlog(sm.logMonoTime['androidLog'], sm['androidLog'])
|
||||
if sm.updated['operatingSystemLog']:
|
||||
print_operating_system_log(sm.logMonoTime['operatingSystemLog'], sm['operatingSystemLog'])
|
||||
|
||||
@@ -3,7 +3,6 @@ import random
|
||||
from collections import defaultdict
|
||||
|
||||
from tqdm import tqdm
|
||||
|
||||
from opendbc.car.fw_versions import match_fw_to_car_fuzzy
|
||||
from opendbc.car.toyota.values import FW_VERSIONS as TOYOTA_FW_VERSIONS
|
||||
from opendbc.car.honda.values import FW_VERSIONS as HONDA_FW_VERSIONS
|
||||
|
||||
@@ -4,13 +4,13 @@
|
||||
|
||||
# Instructions:
|
||||
# - connect to a Panda
|
||||
# - run selfdrive/pandad/pandad
|
||||
# - run openpilot/selfdrive/pandad/pandad
|
||||
# - launching this script
|
||||
# Note: it's very important that the car is in stock mode, in order to collect a complete fingerprint
|
||||
# - since some messages are published at low frequency, keep this script running for at least 30s,
|
||||
# until all messages are received at least once
|
||||
|
||||
import cereal.messaging as messaging
|
||||
import openpilot.cereal.messaging as messaging
|
||||
|
||||
logcan = messaging.sub_sock('can')
|
||||
msgs = {}
|
||||
|
||||
@@ -4,7 +4,7 @@ import numpy as np
|
||||
import capnp
|
||||
from collections import defaultdict
|
||||
|
||||
from cereal.messaging import SubMaster
|
||||
from openpilot.cereal.messaging import SubMaster
|
||||
|
||||
def cputime_total(ct):
|
||||
return ct.user + ct.nice + ct.system + ct.idle + ct.iowait + ct.irq + ct.softirq
|
||||
|
||||
+3
-206
@@ -1,216 +1,13 @@
|
||||
#!/usr/bin/env python3
|
||||
import argparse
|
||||
import os
|
||||
from collections import defaultdict
|
||||
import sys
|
||||
|
||||
import numpy as np
|
||||
sys.path.insert(0, os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))))
|
||||
|
||||
from openpilot.common.utils import tabulate
|
||||
from openpilot.selfdrive.test.mem_usage import DEMO_ROUTE, print_report
|
||||
from openpilot.tools.lib.logreader import LogReader
|
||||
|
||||
DEMO_ROUTE = "5beb9b58bd12b691/0000010a--a51155e496"
|
||||
MB = 1024 * 1024
|
||||
TABULATE_OPTS = dict(tablefmt="simple_grid", stralign="center", numalign="center")
|
||||
|
||||
|
||||
def _get_procs():
|
||||
from openpilot.selfdrive.test.test_onroad import PROCS
|
||||
return PROCS
|
||||
|
||||
|
||||
def is_openpilot_proc(name):
|
||||
if any(p in name for p in _get_procs()):
|
||||
return True
|
||||
# catch openpilot processes not in PROCS (athenad, manager, etc.)
|
||||
return 'openpilot' in name or name.startswith(('selfdrive.', 'system.'))
|
||||
|
||||
|
||||
def get_proc_name(proc):
|
||||
if len(proc.cmdline) > 0:
|
||||
return list(proc.cmdline)[0]
|
||||
return proc.name
|
||||
|
||||
|
||||
def pct(val_mb, total_mb):
|
||||
return val_mb / total_mb * 100 if total_mb else 0
|
||||
|
||||
|
||||
def has_pss(proc_logs):
|
||||
"""Check if logs contain PSS data (new field, not in old logs)."""
|
||||
try:
|
||||
for proc in proc_logs[-1].procLog.procs:
|
||||
if proc.memPss > 0:
|
||||
return True
|
||||
except AttributeError:
|
||||
pass
|
||||
return False
|
||||
|
||||
|
||||
def print_summary(proc_logs, device_states):
|
||||
mem = proc_logs[-1].procLog.mem
|
||||
total = mem.total / MB
|
||||
used = (mem.total - mem.available) / MB
|
||||
cached = mem.cached / MB
|
||||
shared = mem.shared / MB
|
||||
buffers = mem.buffers / MB
|
||||
|
||||
lines = [
|
||||
f" Total: {total:.0f} MB",
|
||||
f" Used (total-avail): {used:.0f} MB ({pct(used, total):.0f}%)",
|
||||
f" Cached: {cached:.0f} MB ({pct(cached, total):.0f}%) Buffers: {buffers:.0f} MB ({pct(buffers, total):.0f}%)",
|
||||
f" Shared/MSGQ: {shared:.0f} MB ({pct(shared, total):.0f}%)",
|
||||
]
|
||||
|
||||
if device_states:
|
||||
mem_pcts = [m.deviceState.memoryUsagePercent for m in device_states]
|
||||
lines.append(f" deviceState memory: {np.min(mem_pcts)}-{np.max(mem_pcts)}% (avg {np.mean(mem_pcts):.0f}%)")
|
||||
|
||||
print("\n-- Memory Summary --")
|
||||
print("\n".join(lines))
|
||||
return total
|
||||
|
||||
|
||||
def collect_per_process_mem(proc_logs, use_pss):
|
||||
"""Collect per-process memory samples. Returns {name: {metric: [values_per_sample_in_MB]}}."""
|
||||
by_proc = defaultdict(lambda: defaultdict(list))
|
||||
|
||||
for msg in proc_logs:
|
||||
sample = defaultdict(lambda: defaultdict(float))
|
||||
for proc in msg.procLog.procs:
|
||||
name = get_proc_name(proc)
|
||||
sample[name]['rss'] += proc.memRss / MB
|
||||
if use_pss:
|
||||
sample[name]['pss'] += proc.memPss / MB
|
||||
sample[name]['pss_anon'] += proc.memPssAnon / MB
|
||||
sample[name]['pss_shmem'] += proc.memPssShmem / MB
|
||||
|
||||
for name, metrics in sample.items():
|
||||
for metric, val in metrics.items():
|
||||
by_proc[name][metric].append(val)
|
||||
|
||||
return by_proc
|
||||
|
||||
|
||||
def _has_pss_detail(by_proc) -> bool:
|
||||
"""Check if any process has non-zero pss_anon/pss_shmem (unavailable on some kernels)."""
|
||||
return any(sum(v.get('pss_anon', [])) > 0 or sum(v.get('pss_shmem', [])) > 0 for v in by_proc.values())
|
||||
|
||||
|
||||
def process_table_rows(by_proc, total_mb, use_pss, show_detail):
|
||||
"""Build table rows. Returns (rows, total_row)."""
|
||||
mem_key = 'pss' if use_pss else 'rss'
|
||||
rows = []
|
||||
for name in sorted(by_proc, key=lambda n: np.mean(by_proc[n][mem_key]), reverse=True):
|
||||
m = by_proc[name]
|
||||
vals = m[mem_key]
|
||||
avg = round(np.mean(vals))
|
||||
row = [name, f"{avg} MB", f"{round(np.max(vals))} MB", f"{round(pct(avg, total_mb), 1)}%"]
|
||||
if show_detail:
|
||||
row.append(f"{round(np.mean(m['pss_anon']))} MB")
|
||||
row.append(f"{round(np.mean(m['pss_shmem']))} MB")
|
||||
rows.append(row)
|
||||
|
||||
# Total row
|
||||
total_row = None
|
||||
if by_proc:
|
||||
max_samples = max(len(v[mem_key]) for v in by_proc.values())
|
||||
totals = []
|
||||
for i in range(max_samples):
|
||||
s = sum(v[mem_key][i] for v in by_proc.values() if i < len(v[mem_key]))
|
||||
totals.append(s)
|
||||
avg_total = round(np.mean(totals))
|
||||
total_row = ["TOTAL", f"{avg_total} MB", f"{round(np.max(totals))} MB", f"{round(pct(avg_total, total_mb), 1)}%"]
|
||||
if show_detail:
|
||||
total_row.append(f"{round(sum(np.mean(v['pss_anon']) for v in by_proc.values()))} MB")
|
||||
total_row.append(f"{round(sum(np.mean(v['pss_shmem']) for v in by_proc.values()))} MB")
|
||||
|
||||
return rows, total_row
|
||||
|
||||
|
||||
def print_process_tables(op_procs, other_procs, total_mb, use_pss):
|
||||
all_procs = {**op_procs, **other_procs}
|
||||
show_detail = use_pss and _has_pss_detail(all_procs)
|
||||
|
||||
header = ["process", "avg", "max", "%"]
|
||||
if show_detail:
|
||||
header += ["anon", "shmem"]
|
||||
|
||||
op_rows, op_total = process_table_rows(op_procs, total_mb, use_pss, show_detail)
|
||||
# filter other: >5MB avg and not bare interpreter paths (test infra noise)
|
||||
other_filtered = {n: v for n, v in other_procs.items()
|
||||
if np.mean(v['pss' if use_pss else 'rss']) > 5.0
|
||||
and os.path.basename(n.split()[0]) not in ('python', 'python3')}
|
||||
other_rows, other_total = process_table_rows(other_filtered, total_mb, use_pss, show_detail)
|
||||
|
||||
rows = op_rows
|
||||
if op_total:
|
||||
rows.append(op_total)
|
||||
if other_rows:
|
||||
sep_width = len(header)
|
||||
rows.append([""] * sep_width)
|
||||
rows.extend(other_rows)
|
||||
if other_total:
|
||||
other_total[0] = "TOTAL (other)"
|
||||
rows.append(other_total)
|
||||
|
||||
metric = "PSS (no shared double-count)" if use_pss else "RSS (includes shared, overcounts)"
|
||||
print(f"\n-- Per-Process Memory: {metric} --")
|
||||
print(tabulate(rows, header, **TABULATE_OPTS))
|
||||
|
||||
|
||||
def print_memory_accounting(proc_logs, op_procs, other_procs, total_mb, use_pss):
|
||||
last = proc_logs[-1].procLog.mem
|
||||
used = (last.total - last.available) / MB
|
||||
shared = last.shared / MB
|
||||
cached_buf = (last.buffers + last.cached) / MB - shared # shared (MSGQ) is in Cached; separate it
|
||||
msgq = shared
|
||||
|
||||
mem_key = 'pss' if use_pss else 'rss'
|
||||
op_total = sum(v[mem_key][-1] for v in op_procs.values()) if op_procs else 0
|
||||
other_total = sum(v[mem_key][-1] for v in other_procs.values()) if other_procs else 0
|
||||
proc_sum = op_total + other_total
|
||||
remainder = used - (cached_buf + msgq) - proc_sum
|
||||
|
||||
if not use_pss:
|
||||
# RSS double-counts shared; add back once to partially correct
|
||||
remainder += shared
|
||||
|
||||
header = ["", "MB", "%", ""]
|
||||
label = "PSS" if use_pss else "RSS*"
|
||||
rows = [
|
||||
["Used (total - avail)", f"{used:.0f}", f"{pct(used, total_mb):.1f}", "memory in use by the system"],
|
||||
[" Cached + Buffers", f"{cached_buf:.0f}", f"{pct(cached_buf, total_mb):.1f}", "pagecache + fs metadata, reclaimable"],
|
||||
[" MSGQ (shared)", f"{msgq:.0f}", f"{pct(msgq, total_mb):.1f}", "/dev/shm tmpfs, also in process PSS"],
|
||||
[f" openpilot {label}", f"{op_total:.0f}", f"{pct(op_total, total_mb):.1f}", "sum of openpilot process memory"],
|
||||
[f" other {label}", f"{other_total:.0f}", f"{pct(other_total, total_mb):.1f}", "sum of non-openpilot process memory"],
|
||||
[" kernel/ION/GPU", f"{remainder:.0f}", f"{pct(remainder, total_mb):.1f}", "slab, ION/DMA-BUF, GPU, page tables"],
|
||||
]
|
||||
note = "" if use_pss else " (*RSS overcounts shared mem)"
|
||||
print(f"\n-- Memory Accounting (last sample){note} --")
|
||||
print(tabulate(rows, header, tablefmt="simple_grid", stralign="right"))
|
||||
|
||||
|
||||
def print_report(proc_logs, device_states=None):
|
||||
"""Print full memory analysis report. Can be called from tests or CLI."""
|
||||
if not proc_logs:
|
||||
print("No procLog messages found")
|
||||
return
|
||||
|
||||
print(f"{len(proc_logs)} procLog samples, {len(device_states or [])} deviceState samples")
|
||||
|
||||
use_pss = has_pss(proc_logs)
|
||||
if not use_pss:
|
||||
print(" (no PSS data — re-record with updated proclogd for accurate numbers)")
|
||||
|
||||
total_mb = print_summary(proc_logs, device_states or [])
|
||||
|
||||
by_proc = collect_per_process_mem(proc_logs, use_pss)
|
||||
op_procs = {n: v for n, v in by_proc.items() if is_openpilot_proc(n)}
|
||||
other_procs = {n: v for n, v in by_proc.items() if not is_openpilot_proc(n)}
|
||||
|
||||
print_process_tables(op_procs, other_procs, total_mb, use_pss)
|
||||
print_memory_accounting(proc_logs, op_procs, other_procs, total_mb, use_pss)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
parser = argparse.ArgumentParser(description="Analyze memory usage from route logs")
|
||||
|
||||
@@ -4,10 +4,10 @@ snapdragon profiler
|
||||
|
||||
* download from https://developer.qualcomm.com/software/snapdragon-profiler/tools-archive (need a qc developer account)
|
||||
* choose v2021.5 (verified working with 24.04 dev environment)
|
||||
* unzip to selfdrive/debug/profiling/snapdragon/SnapdragonProfiler
|
||||
* unzip to openpilot/selfdrive/debug/profiling/snapdragon/SnapdragonProfiler
|
||||
* run ```./setup-profiler.sh```
|
||||
* run ```./setup-agnos.sh```
|
||||
* run ```selfdrive/debug/adb.sh``` on device
|
||||
* run ```openpilot/selfdrive/debug/adb.sh``` on device
|
||||
* run the ```adb connect xxx``` command that was given to you on local pc
|
||||
* cd to SnapdragonProfiler and run ```./run_sdp.sh```
|
||||
* connect to device -> choose device you just setup
|
||||
|
||||
@@ -5,7 +5,7 @@ from collections import defaultdict
|
||||
|
||||
import matplotlib.pyplot as plt
|
||||
|
||||
from cereal.services import SERVICE_LIST
|
||||
from openpilot.cereal.services import SERVICE_LIST
|
||||
from openpilot.common.utils import LOG_COMPRESSION_LEVEL
|
||||
from openpilot.tools.lib.logreader import LogReader
|
||||
from tqdm import tqdm
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
#!/usr/bin/env python3
|
||||
import sys
|
||||
|
||||
from cereal import car
|
||||
from opendbc.car.structs import car
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.tools.lib.route import Route
|
||||
from openpilot.tools.lib.logreader import LogReader
|
||||
|
||||
@@ -14,7 +14,7 @@ if __name__ == "__main__":
|
||||
parser.add_argument("device", help="device name or dongle id")
|
||||
parser.add_argument("--host", help="ssh jump server host", default="ssh.comma.ai")
|
||||
parser.add_argument("--port", help="ssh jump server port", default=22, type=int)
|
||||
parser.add_argument("--key", help="ssh key", default=os.path.join(BASEDIR, "common/hardware/tici/id_rsa"))
|
||||
parser.add_argument("--key", help="ssh key", default=os.path.join(BASEDIR, "openpilot/common/hardware/tici/id_rsa"))
|
||||
parser.add_argument("--debug", help="enable debug output", action="store_true")
|
||||
args = parser.parse_args()
|
||||
|
||||
|
||||
@@ -1,7 +1,8 @@
|
||||
#!/usr/bin/env python3
|
||||
import time
|
||||
|
||||
from cereal import car, log, messaging
|
||||
from openpilot.cereal import log, messaging
|
||||
from opendbc.car.structs import car
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.system.manager.process_config import managed_processes, is_tinygrad_model, is_stock_model
|
||||
from openpilot.common.hardware import HARDWARE
|
||||
|
||||
@@ -7,8 +7,8 @@ from dataclasses import dataclass, field
|
||||
|
||||
import numpy as np
|
||||
|
||||
import cereal.messaging as messaging
|
||||
from cereal.services import SERVICE_LIST
|
||||
import openpilot.cereal.messaging as messaging
|
||||
from openpilot.cereal.services import SERVICE_LIST
|
||||
|
||||
|
||||
@dataclass
|
||||
|
||||
Reference in New Issue
Block a user