Release 260111

tools/profiling/clpeak/build.sh

@@ -0,0 +1,22 @@
+#!/usr/bin/env bash
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+cd $DIR
+
+if [ ! -d "$DIR/clpeak" ]; then
+  git clone https://github.com/krrishnarraj/clpeak.git
+
+  cd clpeak
+  git fetch
+  git checkout ec2d3e70e1abc7738b81f9277c7af79d89b2133b
+  git reset --hard origin/master
+  git submodule update --init --recursive --remote
+
+  git apply ../run_continuously.patch
+fi
+
+cd clpeak
+mkdir build || true
+cd build
+cmake ..
+cmake --build .

tools/profiling/clpeak/no_print.patch

@@ -0,0 +1,39 @@
+diff --git a/src/logger.cpp b/src/logger.cpp
+index a63c6dd..a1d9860 100644
+--- a/src/logger.cpp
++++ b/src/logger.cpp
+@@ -24,34 +24,22 @@ logger::~logger()
+ 
+ void logger::print(string str)
+ {
+-  cout << str;
+-  cout.flush();
+ }
+ 
+ void logger::print(double val)
+ {
+-  cout << setprecision(2) << fixed;
+-  cout << val;
+-  cout.flush();
+ }
+ 
+ void logger::print(float val)
+ {
+-  cout << setprecision(2) << fixed;
+-  cout << val;
+-  cout.flush();
+ }
+ 
+ void logger::print(int val)
+ {
+-  cout << val;
+-  cout.flush();
+ }
+ 
+ void logger::print(unsigned int val)
+ {
+-  cout << val;
+-  cout.flush();
+ }
+ 
+ void logger::xmlOpenTag(string tag)

tools/profiling/clpeak/run_continuously.patch

@@ -0,0 +1,13 @@
+diff --git a/src/clpeak.cpp b/src/clpeak.cpp
+index 8cb192b..b6fe6f5 100644
+--- a/src/clpeak.cpp
++++ b/src/clpeak.cpp
+@@ -47,7 +47,7 @@ int clPeak::runAll()
+ 
+     log->xmlOpenTag("clpeak");
+     log->xmlAppendAttribs("os", OS_NAME);
+-    for (size_t p = 0; p < platforms.size(); p++)
++    for (size_t p = 0; p < platforms.size(); (p+1 % platforms.size()))
+     {
+       if (forcePlatform && (p != specifiedPlatform))
+         continue;

tools/profiling/ftrace.sh

@@ -0,0 +1,24 @@
+#!/usr/bin/env bash
+set -e
+
+cd /sys/kernel/tracing
+
+echo 1 > tracing_on
+echo boot > trace_clock
+echo 1000 > buffer_size_kb
+
+# /sys/kernel/tracing/available_events
+echo 0 > events/enable
+#echo 1 > events/irq/enable
+#echo 1 > events/sched/enable
+#echo 1 > events/kgsl/enable
+#echo 1 > events/camera/enable
+echo 1 > events/workqueue/enable
+
+echo > trace
+sleep 2
+echo 0 > tracing_on
+
+cp trace /tmp/trace
+chown comma: /tmp/trace
+echo /tmp/trace

tools/profiling/palanteer/setup.sh

@@ -0,0 +1,24 @@
+#!/usr/bin/env bash
+
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+cd $DIR
+
+if [ ! -d palanteer ]; then
+  git clone https://github.com/dfeneyrou/palanteer
+  pip install wheel
+  sudo apt install libunwind-dev libdw-dev
+fi
+
+cd palanteer
+git pull
+
+mkdir -p build
+cd build
+cmake .. -DCMAKE_BUILD_TYPE=Release
+make -j$(nproc)
+
+pip install --force-reinstall python/dist/palanteer*.whl
+
+cp bin/palanteer $DIR/viewer

tools/profiling/perfetto/build.sh

@@ -0,0 +1,11 @@
+#!/usr/bin/env bash
+
+if [ ! -d perfetto ]; then
+  git clone https://android.googlesource.com/platform/external/perfetto/
+fi
+
+cd perfetto
+
+tools/install-build-deps --linux-arm
+tools/gn gen --args='is_debug=false target_os="linux" target_cpu="arm64"' out/linux
+tools/ninja -C out/linux tracebox traced traced_probes perfetto

tools/profiling/perfetto/copy.sh

@@ -0,0 +1,6 @@
+#!/usr/bin/env bash
+
+DEST=tici:/data/openpilot/selfdrive/debug/profiling/perfetto
+
+scp -r perfetto/out/linux/tracebox $DEST
+scp -r perfetto/test/configs $DEST

tools/profiling/perfetto/record.sh

@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+OUT=trace_
+sudo ./tracebox -o $OUT --txt -c configs/scheduling.cfg
+sudo chown $USER:$USER $OUT

tools/profiling/perfetto/server.sh

@@ -0,0 +1,6 @@
+#!/usr/bin/env bash
+
+curl -LO https://get.perfetto.dev/trace_processor
+chmod +x ./trace_processor
+
+./trace_processor --httpd

tools/profiling/perfetto/traces.sh

@@ -0,0 +1,5 @@
+#!/usr/bin/env bash
+
+DEST=tici:/data/openpilot/selfdrive/debug/profiling/perfetto
+
+scp tici:/data/openpilot/selfdrive/debug/profiling/perfetto/trace_* .

tools/profiling/py-spy/profile.sh

@@ -0,0 +1,21 @@
+#!/usr/bin/env bash
+set -e
+
+cd "$(dirname "$0")"
+
+# find process with name passed in (excluding this process)
+for PID in $(pgrep -f $1); do
+  if [ "$PID" != "$$" ]; then
+    ps -p $PID -o args
+    TRACE_PID=$PID
+    break
+  fi
+done
+
+if [ -z "$TRACE_PID" ]; then
+  echo "could not find PID for $1"
+  exit 1
+fi
+
+sudo env PATH=$PATH py-spy record -d 5 -o /tmp/perf$TRACE_PID.svg -p $TRACE_PID &&
+google-chrome /tmp/perf$TRACE_PID.svg

tools/profiling/snapdragon/README.md

@@ -0,0 +1,13 @@
+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
+* run ```./setup-profiler.sh```
+* run ```./setup-agnos.sh```
+* run ```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

tools/profiling/snapdragon/setup-agnos.sh

@@ -0,0 +1,7 @@
+#!/usr/bin/env bash
+
+# TODO: there's probably a better way to do this
+
+cd SnapdragonProfiler/service
+mv android real_android
+ln -s agl/ android

tools/profiling/snapdragon/setup-profiler.sh

@@ -0,0 +1,14 @@
+#!/usr/bin/env bash
+
+# install depends
+sudo apt update
+sudo apt-get install libc++1 libc++abi1 default-jre android-tools-adb gtk-sharp2
+
+# setup mono
+sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 3FA7E0328081BFF6A14DA29AA6A19B38D3D831EF
+sudo apt install apt-transport-https ca-certificates
+echo "deb https://download.mono-project.com/repo/ubuntu stable-xenial main" | sudo tee /etc/apt/sources.list.d/mono-official-stable.list
+sudo apt update
+sudo apt-get install -y mono-complete
+
+echo "Setup successful, you should now be able to run the profiler with cd SnapdragonProfiler and ./run_sdp.sh"

tools/profiling/watch-irqs.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+set -e
+
+RUBYOPT="-W0" irqtop -d1 -R