IQ.Pilot Prebuilt Release @ ab07000

selfdrive/debug/analyze-msg-size.py

@@ -0,0 +1,82 @@
+#!/usr/bin/env python3
+import argparse
+from tqdm import tqdm
+
+from cereal.services import SERVICE_LIST, QueueSize
+from openpilot.tools.lib.logreader import LogReader
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Analyze message sizes from a log route")
+  parser.add_argument("route", nargs="?", default="98395b7c5b27882e/000000a8--f87e7cd255",
+                      help="Log route to analyze (default: 98395b7c5b27882e/000000a8--f87e7cd255)")
+  args = parser.parse_args()
+
+  lr = LogReader(args.route)
+
+  szs = {}
+  for msg in tqdm(lr):
+    sz = len(msg.as_builder().to_bytes())
+    msg_type = msg.which()
+    if msg_type not in szs:
+      szs[msg_type] = {'min': sz, 'max': sz, 'sum': sz, 'count': 1}
+    else:
+      szs[msg_type]['min'] = min(szs[msg_type]['min'], sz)
+      szs[msg_type]['max'] = max(szs[msg_type]['max'], sz)
+      szs[msg_type]['sum'] += sz
+      szs[msg_type]['count'] += 1
+
+  print()
+  print(f"{'Service':<36} {'Min (KB)':>12} {'Max (KB)':>12} {'Avg (KB)':>12} {'KB/min':>12} {'KB/sec':>12} {'Minutes in 10MB':>18} {'Seconds in Queue':>18}")
+  print("-" * 132)
+  def sort_key(x):
+    k, v = x
+    avg = v['sum'] / v['count']
+    freq = SERVICE_LIST.get(k, None)
+    freq_val = freq.frequency if freq else 0.0
+    kb_per_min = (avg * freq_val * 60) / 1024 if freq_val > 0 else 0.0
+    return kb_per_min
+  total_kb_per_min = 0.0
+  RINGBUFFER_SIZE_KB = 10 * 1024  # 10MB old default
+  for k, v in sorted(szs.items(), key=sort_key, reverse=True):
+    avg = v['sum'] / v['count']
+    service = SERVICE_LIST.get(k, None)
+    freq_val = service.frequency if service else 0.0
+    queue_size_kb = (service.queue_size / 1024) if service else 250  # default to SMALL
+    kb_per_min = (avg * freq_val * 60) / 1024 if freq_val > 0 else 0.0
+    kb_per_sec = kb_per_min / 60
+    minutes_in_buffer = RINGBUFFER_SIZE_KB / kb_per_min if kb_per_min > 0 else float('inf')
+    seconds_in_queue = (queue_size_kb / kb_per_sec) if kb_per_sec > 0 else float('inf')
+    total_kb_per_min += kb_per_min
+    min_str = f"{minutes_in_buffer:.2f}" if minutes_in_buffer != float('inf') else "inf"
+    sec_queue_str = f"{seconds_in_queue:.2f}" if seconds_in_queue != float('inf') else "inf"
+    print(f"{k:<36} {v['min']/1024:>12.2f} {v['max']/1024:>12.2f} {avg/1024:>12.2f} {kb_per_min:>12.2f} {kb_per_sec:>12.2f} {min_str:>18} {sec_queue_str:>18}")
+
+  # Summary section
+  print()
+  print(f"Total usage: {total_kb_per_min / 1024:.2f} MB/min")
+
+  # Calculate memory usage: old (10MB for all) vs new (from services.py)
+  OLD_SIZE = 10 * 1024 * 1024  # 10MB was the old default
+  old_total = len(SERVICE_LIST) * OLD_SIZE
+
+  new_total = sum(s.queue_size for s in SERVICE_LIST.values())
+
+  # Count by queue size
+  size_counts = {QueueSize.BIG: 0, QueueSize.MEDIUM: 0, QueueSize.SMALL: 0}
+  for s in SERVICE_LIST.values():
+    size_counts[s.queue_size] += 1
+
+  savings_pct = (1 - new_total / old_total) * 100
+
+  print()
+  print(f"{'Queue Size Comparison':<40}")
+  print("-" * 60)
+  print(f"{'Old (10MB default):':<30} {old_total / 1024 / 1024:>10.2f} MB")
+  print(f"{'New (from services.py):':<30} {new_total / 1024 / 1024:>10.2f} MB")
+  print(f"{'Savings:':<30} {savings_pct:>10.1f}%")
+  print()
+  print(f"{'Breakdown:':<30}")
+  print(f"  BIG (10MB):    {size_counts[QueueSize.BIG]:>3} services")
+  print(f"  MEDIUM (2MB):  {size_counts[QueueSize.MEDIUM]:>3} services")
+  print(f"  SMALL (250KB): {size_counts[QueueSize.SMALL]:>3} services")