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Vehicle Researcher
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Dec 24, 2017
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,4 +1,4 @@ | ||
| import os | ||
| BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../") | ||
| BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")) | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,32 +1,47 @@ | ||
| from common.realtime import sec_since_boot | ||
| import time | ||
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| class Profiler(object): | ||
| def __init__(self, enabled=False): | ||
| self.enabled = enabled | ||
| self.cp = [] | ||
| self.start_time = sec_since_boot() | ||
| self.cp = {} | ||
| self.cp_ignored = [] | ||
| self.iter = 0 | ||
| self.start_time = time.clock() | ||
| self.last_time = self.start_time | ||
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| def checkpoint(self, name): | ||
| if not self.enabled: | ||
| return | ||
| tt = sec_since_boot() | ||
| self.cp.append((name, tt - self.last_time)) | ||
| self.last_time = tt | ||
| self.tot = 0. | ||
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| def reset(self, enabled=False): | ||
| self.enabled = enabled | ||
| self.cp = [] | ||
| self.start_time = sec_since_boot() | ||
| self.cp = {} | ||
| self.cp_ignored = [] | ||
| self.iter = 0 | ||
| self.start_time = time.clock() | ||
| self.last_time = self.start_time | ||
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| def checkpoint(self, name, ignore=False): | ||
| # ignore flag needed when benchmarking threads with ratekeeper | ||
| if not self.enabled: | ||
| return | ||
| tt = time.clock() | ||
| if name not in self.cp: | ||
| self.cp[name] = 0. | ||
| if ignore: | ||
| self.cp_ignored.append(name) | ||
| self.cp[name] += tt - self.last_time | ||
| if not ignore: | ||
| self.tot += tt - self.last_time | ||
| self.last_time = tt | ||
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| def display(self): | ||
| if not self.enabled: | ||
| return | ||
| self.iter += 1 | ||
| print "******* Profiling *******" | ||
| tot = 0.0 | ||
| for n, ms in self.cp: | ||
| print "%30s: %7.2f" % (n, ms*1000.0) | ||
| tot += ms | ||
| print " TOTAL: %7.2f" % (tot*1000.0) | ||
| for n in self.cp: | ||
| ms = self.cp[n] | ||
| if n in self.cp_ignored: | ||
| print "%30s: %7.2f perc: %1.0f" % (n, ms*1000.0, ms/self.tot*100), " IGNORED" | ||
| else: | ||
| print "%30s: %7.2f perc: %1.0f" % (n, ms*1000.0, ms/self.tot*100) | ||
| print "Iter clock: %2.6f TOTAL: %2.2f" % (self.tot/self.iter, self.tot) | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,39 @@ | ||
| #!/usr/bin/bash | ||
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| function launch { | ||
| # apply update | ||
| if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then | ||
| git reset --hard @{u} && | ||
| git clean -xdf && | ||
| exec "${BASH_SOURCE[0]}" | ||
| fi | ||
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| # check if NEOS update is required | ||
| while [ "$(cat /VERSION)" -lt 4 ] && [ ! -e /data/media/0/noupdate ]; do | ||
| curl -o /tmp/updater https://neos.comma.ai/updater && chmod +x /tmp/updater && /tmp/updater | ||
| sleep 10 | ||
| done | ||
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| # no cpu rationing for now | ||
| echo 0-3 > /dev/cpuset/background/cpus | ||
| echo 0-3 > /dev/cpuset/system-background/cpus | ||
| echo 0-3 > /dev/cpuset/foreground/boost/cpus | ||
| echo 0-3 > /dev/cpuset/foreground/cpus | ||
| echo 0-3 > /dev/cpuset/android/cpus | ||
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| # wait for network | ||
| (cd selfdrive/ui/spinner && exec ./spinner 'waiting for network...') & spin_pid=$! | ||
| until ping -W 1 -c 1 8.8.8.8; do sleep 1; done | ||
| kill $spin_pid | ||
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| export PYTHONPATH="$PWD" | ||
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| # start manager | ||
| cd selfdrive | ||
| ./manager.py | ||
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| # if broken, keep on screen error | ||
| while true; do sleep 1; done | ||
| } | ||
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||
| launch |
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