replace psutil with simple /proc helper (#38326)

* replace psutil with simple /proc helper * mv to common
2026-09-30 19:43:41 +08:00 · 2026-07-11 13:51:22 -07:00
parent a52da0d3df
commit 503531ab38
6 changed files with 54 additions and 149 deletions
@@ -0,0 +1,50 @@
+class LinuxSystemStats:
+  def __init__(self) -> None:
+    self._last_cpu_times = self._read_cpu_times()
+
+  @staticmethod
+  def _read_cpu_times() -> dict[int, tuple[int, int]]:
+    cpu_times = {}
+    with open('/proc/stat') as f:
+      for line in f:
+        name, *values = line.split()
+        if not name.startswith('cpu') or not name[3:].isdigit():
+          continue
+
+        times = [int(value) for value in values]
+        idle = sum(times[3:5])
+        total = sum(times[:8])
+        cpu_times[int(name[3:])] = (idle, total)
+    return cpu_times
+
+  def cpu_usage_percent(self) -> list[float]:
+    current_cpu_times = self._read_cpu_times()
+    usage = []
+    for cpu, (idle, total) in sorted(current_cpu_times.items()):
+      last_times = self._last_cpu_times.get(cpu)
+      if last_times is None:
+        usage.append(0.)
+        continue
+
+      last_idle, last_total = last_times
+      idle_delta = idle - last_idle
+      total_delta = total - last_total
+      if idle_delta < 0 or total_delta <= 0:
+        usage.append(0.)
+      else:
+        usage.append(max(0., min(100., 100. * (total_delta - idle_delta) / total_delta)))
+
+    self._last_cpu_times = current_cpu_times
+    return usage
+
+  @staticmethod
+  def memory_usage_percent() -> float:
+    memory = {}
+    with open('/proc/meminfo') as f:
+      for line in f:
+        key, value, *_ = line.split()
+        if key in ('MemTotal:', 'MemAvailable:'):
+          memory[key] = int(value)
+
+    total = memory['MemTotal:']
+    return max(0., min(100., 100. * (total - memory['MemAvailable:']) / total))
@@ -7,8 +7,6 @@ import threading
 import time
 from collections import OrderedDict, namedtuple

-import psutil
-
 import openpilot.cereal.messaging as messaging
 from openpilot.cereal import log
 from openpilot.cereal.services import SERVICE_LIST
@@ -19,6 +17,7 @@ from openpilot.common.realtime import DT_HW
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.common.hardware import HARDWARE, TICI, PC
 from openpilot.common.hardware.usb import get_usb_state, set_usb_state
+from openpilot.common.linux import LinuxSystemStats
 from openpilot.system.loggerd.config import get_available_percent
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware.power_monitoring import PowerMonitoring
@@ -142,6 +141,7 @@ def hw_state_thread(end_event, hw_queue):


 def hardware_thread(end_event, hw_queue) -> None:
+  system_stats = LinuxSystemStats()
  pm = messaging.PubMaster(['deviceState'])
  sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "selfdriveState", "pandaStates"], poll="pandaStates")

@@ -232,9 +232,9 @@ def hardware_thread(end_event, hw_queue) -> None:
      pass

    msg.deviceState.freeSpacePercent = get_available_percent(default=100.0)
-    msg.deviceState.memoryUsagePercent = int(round(psutil.virtual_memory().percent))
+    msg.deviceState.memoryUsagePercent = int(round(system_stats.memory_usage_percent()))
    msg.deviceState.gpuUsagePercent = int(round(HARDWARE.get_gpu_usage_percent()))
-    online_cpu_usage = [int(round(n)) for n in psutil.cpu_percent(percpu=True)]
+    online_cpu_usage = [int(round(n)) for n in system_stats.cpu_usage_percent()]
    offline_cpu_usage = [0., ] * (len(msg.deviceState.cpuTempC) - len(online_cpu_usage))
    msg.deviceState.cpuUsagePercent = online_cpu_usage + offline_cpu_usage

@@ -3,7 +3,6 @@ import os
 import re
 import datetime
 import subprocess
-import psutil
 import shutil
 import signal
 import fcntl
@@ -427,11 +426,6 @@ def main() -> None:
    except OSError as e:
      raise RuntimeError("couldn't get overlay lock; is another instance running?") from e

-    # Set low io priority
-    proc = psutil.Process()
-    if psutil.LINUX:
-      proc.ionice(psutil.IOPRIO_CLASS_BE, value=7)
-
    # Check if we just performed an update
    if Path(os.path.join(STAGING_ROOT, "old_openpilot")).is_dir():
      cloudlog.event("update installed")
@@ -54,7 +54,6 @@ dependencies = [
  "inputs",

  # these should be removed
-  "psutil",
  "setproctitle",

  # logreader
@@ -1,120 +0,0 @@
-#!/usr/bin/env python3
-'''
-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.
-    Calculate the average cpu usage within this cycle.
-    Calculate minumium/maximum/accumulated_average cpu usage as long term inspections.
-    Monitor multiple processes simuteneously.
-  Sample usage:
-    root@localhost:/data/openpilot$ python openpilot/tools/scripts/cpu_usage_stat.py pandad,ubloxd
-    ('Add monitored proc:', './pandad')
-    ('Add monitored proc:', 'python locationd/ubloxd.py')
-    pandad: 1.96%, min: 1.96%, max: 1.96%, acc: 1.96%
-    ubloxd.py: 0.39%, min: 0.39%, max: 0.39%, acc: 0.39%
-'''
-import psutil
-import time
-import os
-import sys
-import numpy as np
-import argparse
-import re
-from collections import defaultdict
-
-from openpilot.system.manager.process_config import managed_processes
-
-# Do statistics every 5 seconds
-PRINT_INTERVAL = 5
-SLEEP_INTERVAL = 0.2
-
-monitored_proc_names = [
-  # android procs
-  'SurfaceFlinger', 'sensors.qcom'
-] + list(managed_processes.keys())
-
-cpu_time_names = ['user', 'system', 'children_user', 'children_system']
-
-
-def get_arg_parser():
-  parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
-
-  parser.add_argument("proc_names", nargs="?", default='',
-                      help="Process names to be monitored, comma separated")
-  parser.add_argument("--list_all", action='store_true',
-                      help="Show all running processes' cmdline")
-  parser.add_argument("--detailed_times", action='store_true',
-                      help="show cpu time details (split by user, system, child user, child system)")
-  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(fr'.*{pn}.*', l, re.M | re.I)))
-    if matched:
-      k = ' '.join(p.cmdline())
-      print('Add monitored proc:', k)
-      stats[k] = {'cpu_samples': defaultdict(list), 'min': defaultdict(lambda: None), 'max': defaultdict(lambda: None),
-                  'avg': defaultdict(float), 'last_cpu_times': None, 'last_sys_time': None}
-      stats[k]['last_sys_time'] = time.monotonic()
-      stats[k]['last_cpu_times'] = p.cpu_times()
-      monitored_procs.append(p)
-  i = 0
-  interval_int = int(PRINT_INTERVAL / SLEEP_INTERVAL)
-  while True:
-    for p in monitored_procs:
-      k = ' '.join(p.cmdline())
-      cur_sys_time = time.monotonic()
-      cur_cpu_times = p.cpu_times()
-      cpu_times = np.subtract(cur_cpu_times, stats[k]['last_cpu_times']) / (cur_sys_time - stats[k]['last_sys_time'])
-      stats[k]['last_sys_time'] = cur_sys_time
-      stats[k]['last_cpu_times'] = cur_cpu_times
-      cpu_percent = 0
-      for num, name in enumerate(cpu_time_names):
-        stats[k]['cpu_samples'][name].append(cpu_times[num])
-        cpu_percent += cpu_times[num]
-      stats[k]['cpu_samples']['total'].append(cpu_percent)
-    time.sleep(SLEEP_INTERVAL)
-    i += 1
-    if i % interval_int == 0:
-      l = []
-      for k, stat in stats.items():
-        if len(stat['cpu_samples']) <= 0:
-          continue
-        for name, samples in stat['cpu_samples'].items():
-          samples = np.array(samples)
-          avg = samples.mean()
-          c = samples.size
-          min_cpu = np.amin(samples)
-          max_cpu = np.amax(samples)
-          if stat['min'][name] is None or min_cpu < stat['min'][name]:
-            stat['min'][name] = min_cpu
-          if stat['max'][name] is None or max_cpu > stat['max'][name]:
-            stat['max'][name] = max_cpu
-          stat['avg'][name] = (stat['avg'][name] * (i - c) + avg * c) / (i)
-          stat['cpu_samples'][name] = []
-
-        msg = f"avg: {stat['avg']['total']:.2%}, min: {stat['min']['total']:.2%}, max: {stat['max']['total']:.2%} {os.path.basename(k)}"
-        if args.detailed_times:
-          for stat_type in ['avg', 'min', 'max']:
-            msg += f"\n {stat_type}: {[(name + ':' + str(round(stat[stat_type][name] * 100, 2))) for name in cpu_time_names]}"
-        l.append((os.path.basename(k), stat['avg']['total'], msg))
-      l.sort(key=lambda x: -x[1])
-      for x in l:
-        print(x[2])
-      print('avg sum: {:.2%} over {} samples {} seconds\n'.format(
-        sum(stat['avg']['total'] for k, stat in stats.items()), i, i * SLEEP_INTERVAL
-      ))
@@ -898,7 +898,6 @@ dependencies = [
    { name = "jeepney" },
    { name = "numpy" },
    { name = "pillow" },
-    { name = "psutil" },
    { name = "pycapnp" },
    { name = "pyjwt" },
    { name = "pyzmq" },
@@ -981,7 +980,6 @@ requires-dist = [
    { name = "numpy", specifier = ">=2.0" },
    { name = "pillow" },
    { name = "pre-commit-hooks", marker = "extra == 'testing'" },
-    { name = "psutil" },
    { name = "pycapnp", specifier = "==2.1.0" },
    { name = "pyjwt" },
    { name = "pytest", marker = "extra == 'testing'" },
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 ]

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-name = "psutil"
-version = "7.2.2"
-source = { registry = "https://pypi.org/simple" }
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 version = "2.1.0"