Merge branch 'watcher' into tools

sunnypilot/tools/profile_params.py

@@ -0,0 +1,171 @@
+#!/usr/bin/env python3
+import argparse
+import ctypes
+import csv
+import os
+import platform
+import random
+import select
+import struct
+import sys
+import time
+import matplotlib.pyplot as plt
+import matplotlib.ticker as ticker
+from collections import defaultdict
+
+from openpilot.system.hardware.hw import Paths
+
+from openpilot.sunnypilot.common.param_watcher import ParamWatcher, IN_CLOSE_WRITE, IN_MOVED_TO
+
+IN_ACCESS = 0x00000001
+
+
+def get_linux_monitor(params_path, reads, writes):
+  libc = ctypes.CDLL('libc.so.6')
+  fd = libc.inotify_init()
+  if fd < 0:
+    return None
+
+  mask = IN_ACCESS | IN_MOVED_TO | IN_CLOSE_WRITE
+  if libc.inotify_add_watch(fd, params_path.encode(), mask) < 0:
+    return None
+
+  poll_obj = select.epoll()
+  poll_obj.register(fd, select.EPOLLIN)
+
+  def monitor():
+    for fileno, _ in poll_obj.poll(0.1):
+      if fileno == fd:
+        buffer = os.read(fd, 2048)
+        i = 0
+        while i + 16 <= len(buffer):
+          wd, mask, cookie, name_len = struct.unpack_from("iIII", buffer, i)
+          name = buffer[i+16:i+16+name_len].rstrip(b"\0").decode('utf-8', 'ignore')
+          if name and not name.startswith("."):
+            if mask & IN_ACCESS:
+              reads[name] += 1
+            elif mask & (IN_MOVED_TO | IN_CLOSE_WRITE):
+              writes[name] += 1
+          i += 16 + name_len
+
+  def cleanup():
+    os.close(fd)
+  return monitor, cleanup
+
+def get_darwin_monitor(params_path, reads, writes):
+  print("WARNING: macOS only reports WRITES.")
+
+  def callback(name):
+    writes[name] += 1
+
+  watcher = ParamWatcher()
+  watcher.add_watcher(callback)
+
+  def monitor():
+    time.sleep(0.1)
+
+  def cleanup():
+    if callback in watcher._callbacks:
+      watcher._callbacks.remove(callback)
+  return monitor, cleanup
+
+def profile_params():
+  parser = argparse.ArgumentParser(description="Profile Params I/O")
+  parser.add_argument("--timeout", type=int, default=30, help="Timeout in minutes (default: 30 mins)")
+  default_out = os.path.join(os.path.dirname(os.path.abspath(__file__)), f"params_profile_{random.randrange(99999)}.csv")
+  parser.add_argument("--out", type=str, default=default_out, help="Output CSV file")
+  args = parser.parse_args()
+
+  path = Paths.params_root()
+  if not os.path.exists(path):
+    return print(f"Error: {path} not found")
+
+  print(f"Profiling Params I/O at: {path}\nPress CTRL+C to stop.")
+  reads, writes = defaultdict(int), defaultdict(int)
+
+  setup = get_linux_monitor if platform.system() == "Linux" else \
+          get_darwin_monitor if platform.system() == "Darwin" else None
+
+  if not setup:
+    return print("Unsupported platform")
+  monitor, cleanup = setup(path, reads, writes) or (None, None)
+
+  if not monitor:
+    return print("Failed to initialize monitor")
+
+  start_time = time.monotonic()
+  timeout_seconds = args.timeout * 60
+  last_print = start_time
+
+  try:
+    while True:
+      monitor()
+      if time.monotonic() - last_print > 1.0:
+        sys.stdout.write(".")
+        sys.stdout.flush()
+        last_print = time.monotonic()
+
+      if args.timeout > 0 and (time.monotonic() - start_time) > timeout_seconds:
+        print("\nTimeout reached.")
+        break
+  except KeyboardInterrupt:
+    print("\n\nStopping...")
+  finally:
+    cleanup()
+
+  duration = time.monotonic() - start_time
+
+
+  with open(args.out, 'w', newline='') as csvfile:
+    writer = csv.writer(csvfile)
+    writer.writerow(['Param Name', 'Reads/sec', 'Writes/sec', 'Total Reads', 'Total Writes'])
+    for k in sorted(set(reads) | set(writes), key=lambda k: reads[k] + writes[k], reverse=True):
+      writer.writerow([k, f"{reads[k]/duration:.1f}", f"{writes[k]/duration:.1f}", reads[k], writes[k]])
+  print(f"CSV report saved to {args.out}")
+
+
+  data = []
+  for k in sorted(set(reads) | set(writes), key=lambda k: reads[k] + writes[k], reverse=True):
+    data.append((k, reads[k]/duration, writes[k]/duration))
+
+  if data:
+    data = data[:10]
+    names = [x[0] for x in data]
+    read_rates = [x[1] for x in data]
+    write_rates = [x[2] for x in data]
+
+    bar_height = 0.35
+    plt.figure(figsize=(12, len(names) * 0.5 + 2), dpi=150)
+    y_pos = range(len(names))
+
+    y_pos_reads = [y - bar_height/2 for y in y_pos]
+    y_pos_writes = [y + bar_height/2 for y in y_pos]
+
+    plt.barh(y_pos_reads, read_rates, height=bar_height, align='center', color='dodgerblue', alpha=0.8, label='Reads/sec')
+    plt.barh(y_pos_writes, write_rates, height=bar_height, align='center', color='red', alpha=0.8, label='Writes/sec')
+
+    for i, (r_rate, w_rate) in enumerate(zip(read_rates, write_rates, strict=False)):
+      if r_rate > 0:
+        plt.text(r_rate, y_pos_reads[i], f"{r_rate:.2f}", va='center', fontsize=8, color='#005a9e', fontweight='bold')
+      if w_rate > 0:
+        plt.text(w_rate, y_pos_writes[i], f"{w_rate:.2f}", va='center', fontsize=8, color='#a30000', fontweight='bold')
+
+    max_val = max(max(read_rates), max(write_rates)) if read_rates else 0
+
+    plt.xlim(0, max_val * 1.15)
+    plt.yticks(y_pos, names)
+    plt.xlabel('Rate (Hz)')
+    plt.title('Top 10 Params I/O Profile')
+    plt.legend()
+    plt.grid(axis='x', linestyle='--', alpha=0.5)
+    plt.gca().xaxis.set_major_locator(ticker.MaxNLocator(integer=True, nbins='auto'))
+    plt.tight_layout()
+    plt.gca().invert_yaxis()
+
+    plot_filename = os.path.splitext(args.out)[0] + ".png"
+    plt.savefig(plot_filename)
+    print(f"Plot saved to {plot_filename}")
+
+
+if __name__ == "__main__":
+  profile_params()