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Round trip through bytes to save 30x on migration memory usage (#37963)

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This commit is contained in:
Mitchell Goff
2026-05-04 20:11:03 -07:00
committed by GitHub
parent f64f3944a6
commit 57d0a58855
1 changed files with 24 additions and 20 deletions
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selfdrive/test/process_replay/migration.py
+24 -20
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@@ -87,6 +87,10 @@ def migrate(lr: LogIterable, migration_funcs: list[MigrationFunc]):
return lr
def as_reader(builder) -> capnp.lib.capnp._DynamicStructReader:
return log.Event.from_bytes(builder.to_bytes()).__enter__() # round-trip through bytes, 2x faster and 30x less memory than builder.as_reader()
def migration(inputs: list[str], product: str|None=None):
def decorator(func):
@functools.wraps(func)
@@ -124,7 +128,7 @@ def migrate_longitudinalPlan(msgs):
new_msg = msg.as_builder()
a_target, should_stop = get_accel_from_plan(msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels, CONTROL_N_T_IDX)
new_msg.longitudinalPlan.aTarget, new_msg.longitudinalPlan.shouldStop = float(a_target), bool(should_stop)
ops.append((index, new_msg.as_reader()))
ops.append((index, as_reader(new_msg)))
return ops, [], []
@@ -133,7 +137,7 @@ def migrate_driverAssistance(msgs):
add_ops = []
for _, msg in msgs:
new_msg = messaging.new_message('driverAssistance', valid=True, logMonoTime=msg.logMonoTime)
add_ops.append(new_msg.as_reader())
add_ops.append(as_reader(new_msg))
return [], add_ops, []
@@ -150,7 +154,7 @@ def migrate_drivingModelData(msgs):
fill_lane_line_meta(dmd.drivingModelData.laneLineMeta, msg.modelV2.laneLines, msg.modelV2.laneLineProbs)
if all(len(a) for a in [msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z]):
fill_xyz_poly(dmd.drivingModelData.path, ModelConstants.POLY_PATH_DEGREE, msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z)
add_ops.append( dmd.as_reader())
add_ops.append(as_reader(dmd))
return [], add_ops, []
@@ -175,7 +179,7 @@ def migrate_liveTracks(msgs):
pts.append(pt)
new_msg.liveTracks.points = pts
ops.append((index, new_msg.as_reader()))
ops.append((index, as_reader(new_msg)))
return ops, [], []
@@ -195,7 +199,7 @@ def migrate_liveLocationKalman(msgs):
lp_field.valid = llk_field.valid
for flag in ["inputsOK", "posenetOK", "sensorsOK"]:
setattr(m.livePose, flag, getattr(msg.liveLocationKalmanDEPRECATED, flag))
ops.append((index, m.as_reader()))
ops.append((index, as_reader(m)))
return ops, [], []
@@ -210,7 +214,7 @@ def migrate_livePose(msgs):
if msg.which() == "livePose":
new_msg = msg.as_builder()
new_msg.livePose.timestamp = msg.logMonoTime
ops.append((index, new_msg.as_reader()))
ops.append((index, as_reader(new_msg)))
return ops, [], []
@@ -226,7 +230,7 @@ def migrate_controlsState(msgs):
"alertStatus", "alertSize", "alertType", "experimentalMode",
"personality"):
setattr(ss, field, getattr(msg.controlsState.deprecated, field))
add_ops.append(m.as_reader())
add_ops.append(as_reader(m))
return [], add_ops, []
@@ -242,7 +246,7 @@ def migrate_carState(msgs):
msg = msg.as_builder()
msg.carState.vCruise = last_cs.controlsState.deprecated.vCruise
msg.carState.vCruiseCluster = last_cs.controlsState.deprecated.vCruiseCluster
ops.append((index, msg.as_reader()))
ops.append((index, as_reader(msg)))
return ops, [], []
@@ -252,7 +256,7 @@ def migrate_managerState(msgs):
for index, msg in msgs:
new_msg = msg.as_builder()
new_msg.managerState.processes = [{'name': name, 'running': True} for name in managed_processes]
ops.append((index, new_msg.as_reader()))
ops.append((index, as_reader(new_msg)))
return ops, [], []
@@ -265,7 +269,7 @@ def migrate_gpsLocation(msgs):
# hasFix is a newer field
if not g.hasFix and g.flags == 1:
g.hasFix = True
ops.append((index, new_msg.as_reader()))
ops.append((index, as_reader(new_msg)))
return ops, [], []
@@ -281,7 +285,7 @@ def migrate_deviceState(msgs):
if msg.which() == 'deviceState':
n = msg.as_builder()
n.deviceState.deviceType = init_data.deviceType
ops.append((i, n.as_reader()))
ops.append((i, as_reader(n)))
return ops, [], []
@@ -293,7 +297,7 @@ def migrate_carOutput(msgs):
co.valid = msg.valid
co.logMonoTime = msg.logMonoTime
co.carOutput.actuatorsOutput = msg.carControl.actuatorsOutputDEPRECATED
add_ops.append(co.as_reader())
add_ops.append(as_reader(co))
return [], add_ops, []
@@ -331,13 +335,13 @@ def migrate_pandaStates(msgs):
new_msg.logMonoTime = msg.logMonoTime
new_msg.pandaStates[0] = msg.pandaStateDEPRECATED
new_msg.pandaStates[0].safetyParam = safety_param
ops.append((index, new_msg.as_reader()))
ops.append((index, as_reader(new_msg)))
elif msg.which() == 'pandaStates':
new_msg = msg.as_builder()
new_msg.pandaStates[-1].safetyParam = safety_param
# Clear DISABLE_DISENGAGE_ON_GAS bit to fix controls mismatch
new_msg.pandaStates[-1].alternativeExperience &= ~1
ops.append((index, new_msg.as_reader()))
ops.append((index, as_reader(new_msg)))
return ops, [], []
@@ -352,7 +356,7 @@ def migrate_peripheralState(msgs):
new_msg = messaging.new_message("peripheralState")
new_msg.valid = msg.valid
new_msg.logMonoTime = msg.logMonoTime
add_ops.append(new_msg.as_reader())
add_ops.append(as_reader(new_msg))
return [], add_ops, []
@@ -407,7 +411,7 @@ def migrate_cameraStates(msgs):
new_msg.valid = msg.valid
del_ops.append(index)
add_ops.append(new_msg.as_reader())
add_ops.append(as_reader(new_msg))
return [], add_ops, del_ops
@@ -419,7 +423,7 @@ def migrate_carParams(msgs):
CP.carParams.carFingerprint = MIGRATION.get(CP.carParams.carFingerprint, CP.carParams.carFingerprint)
for car_fw in CP.carParams.carFw:
car_fw.brand = CP.carParams.brand
ops.append((index, CP.as_reader()))
ops.append((index, as_reader(CP)))
return ops, [], []
@@ -451,7 +455,7 @@ def migrate_sensorEvents(msgs):
m_dat.timestamp = evt.timestamp
setattr(m_dat, evt.which(), getattr(evt, evt.which()))
add_ops.append(m.as_reader())
add_ops.append(as_reader(m))
del_ops.append(index)
return [], add_ops, del_ops
@@ -474,7 +478,7 @@ def migrate_onroadEvents(msgs):
new_msg.valid = msg.valid
new_msg.logMonoTime = msg.logMonoTime
new_msg.onroadEvents = onroadEvents
ops.append((index, new_msg.as_reader()))
ops.append((index, as_reader(new_msg)))
return ops, [], []
@@ -514,6 +518,6 @@ def migrate_driverMonitoringState(msgs):
dm.visionPolicyState.pose.calibrated = old.posePitchValidCount >= 600 and old.poseYawValidCount >= 600
dm.wheeltouchPolicyState.awarenessPercent = int(max(0, min(100, (old.awarenessPassive if old.isActiveMode else old.awarenessStatus) * 100)))
dm.wheeltouchPolicyState.awarenessStep = 0. if old.isActiveMode else old.stepChange
ops.append((index, new_msg.as_reader()))
ops.append((index, as_reader(new_msg)))
return ops, [], []