IQ.Pilot Release Commit @ bec7652

iqpilot/selfdrive/iqmodeld/tests/timing/benchmark.py

@@ -0,0 +1,54 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
+"""
+
+from __future__ import annotations
+
+import os
+import time
+
+import numpy as np
+
+import iqpilot.cereal.messaging as messaging
+from iqpilot.system.manager.process_config import managed_processes
+
+RUN_COUNT = int(os.getenv("N", "5"))
+WINDOW_SECONDS = int(os.getenv("TIME", "30"))
+WARMUP_MESSAGES = 10
+
+
+def _collect_execution_samples(sock, duration_s: int) -> np.ndarray:
+  samples: list[float] = []
+  deadline = time.monotonic() + duration_s
+  while time.monotonic() < deadline:
+    for message in messaging.drain_sock(sock, wait_for_one=True):
+      samples.append(message.modelV2.modelExecutionTime)
+  return np.array(samples[WARMUP_MESSAGES:]) * 1000.0
+
+
+def _single_benchmark_pass(sock) -> np.ndarray:
+  os.environ["LOGPRINT"] = "debug"
+  managed_processes["modeld"].start()
+  time.sleep(5)
+  try:
+    return _collect_execution_samples(sock, WINDOW_SECONDS)
+  finally:
+    managed_processes["modeld"].stop()
+
+
+def _report_run(index: int, values_ms: np.ndarray) -> None:
+  print(
+    f"run {index}: avg={values_ms.mean():0.2f}ms "
+    f"min={values_ms.min():0.2f}ms max={values_ms.max():0.2f}ms"
+  )
+
+
+if __name__ == "__main__":
+  subscriber = messaging.sub_sock("modelV2", conflate=False, timeout=1000)
+  all_runs = [_single_benchmark_pass(subscriber) for _ in range(RUN_COUNT)]
+
+  print("\n")
+  print(f"ran modeld {RUN_COUNT} times for {WINDOW_SECONDS}s each")
+  for index, values_ms in enumerate(all_runs, start=1):
+    _report_run(index, values_ms)
+  print("\n")