Merge pull request #2816 from openmv/profiling_on_steroids
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common: Add code profiler.
This commit is contained in:
Ibrahim Abdelkader 2025-08-24 20:13:33 +03:00 committed by GitHub
commit 0dbb5c8aa7
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
28 changed files with 1183 additions and 140 deletions

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@ -49,6 +49,10 @@ jobs:
- ARDUINO_NANO_RP2040_CONNECT
- ARDUINO_NANO_33_BLE_SENSE
- DOCKER
profile: [0] # default profile
include:
- target: OPENMV_N6
profile: 1
fail-fast: false
steps:
- name: '⏳ Checkout repository'
@ -100,10 +104,10 @@ jobs:
run: source tools/ci.sh && ci_install_stedgeai ${HOME}/cache/stedgeai
- name: '🏗 Build firmware'
run: source tools/ci.sh && ci_build_target ${{ matrix.target }}
run: source tools/ci.sh && ci_build_target ${{ matrix.target }} ${{ matrix.profile }}
- name: '⬆ Upload artifacts'
if: matrix.target != 'DOCKER'
if: matrix.target != 'DOCKER' && matrix.profile == 0
uses: actions/upload-artifact@v4
with:
name: ${{ matrix.target }}

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@ -107,10 +107,24 @@ CFLAGS += -DFB_ALLOC_STATS
endif
# Enable timing for some functions.
ifeq ($(PROFILE), 1)
CFLAGS += -DOMV_PROFILE_ENABLE=1
ifeq ($(PROFILE_ENABLE), 1)
$(info ===================================)
$(info ======= Profiling Enabled =======)
$(info ===================================)
# Enable profiling in IRQ context (default: enabled)
PROFILE_IRQ ?= 0
# Default profiler hash table size (must be power of 2)
ifeq ($(PROFILE_HASH),)
PROFILE_HASH=256
endif
CFLAGS += -DOMV_PROFILER_ENABLE=1
CFLAGS += -DOMV_PROFILER_HASH_SIZE=$(PROFILE_HASH)
CFLAGS += -DOMV_PROFILER_IRQ_ENABLE=$(PROFILE_IRQ)
CFLAGS += -finstrument-functions-exclude-file-list=lib/cmsis,lib/stm32,/lib/mimxrt,lib/alif,simd.h
endif
# Include OpenMV board config first to set the port.
include $(OMV_BOARD_CONFIG_DIR)/omv_boardconfig.mk

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@ -39,6 +39,7 @@ COMMON_SRC_C += \
usbdbg.c \
vospi.c \
queue.c \
omv_profiler.c \
CFLAGS += -I$(TOP_DIR)/common
OMV_FIRM_OBJ += $(addprefix $(BUILD)/common/, $(COMMON_SRC_C:.c=.o))

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@ -31,6 +31,7 @@
#define OMV_ATTR_ALWAYS_INLINE inline __attribute__((always_inline))
#define OMV_ATTR_OPTIMIZE(o) __attribute__((optimize(o)))
#define OMV_ATTR_SEC_ALIGN(x, s, a) x __attribute__((section(s), aligned(a)))
#define OMV_ATTR_NO_INSTRUMENT __attribute__((no_instrument_function))
#define OMV_DEBUG_BREAKPOINT() __asm__ volatile ("BKPT")
#ifndef __DCACHE_PRESENT
@ -76,17 +77,11 @@
#define OMV_ARRAY_SIZE(a) (sizeof(a) / sizeof(a[0]))
#if OMV_PROFILE_ENABLE
#include <stdio.h>
#include "py/mphal.h"
#define OMV_CONCATENATE_DETAIL(x, y) x##y
#define OMV_CONCATENATE(x, y) OMV_CONCATENATE_DETAIL(x, y)
#define OMV_PROFILE_START(F) mp_uint_t OMV_CONCATENATE(_ticks_start_, F) = mp_hal_ticks_us()
#define OMV_PROFILE_PRINT(F) printf("%s:%s %u us\n", __FUNCTION__, #F, mp_hal_ticks_us() - OMV_CONCATENATE(_ticks_start_, F))
#else
#define OMV_PROFILE_START(F)
#define OMV_PROFILE_PRINT(F)
#endif
// Token concatenation macros
// OMV_CONCAT expands its arguments before pasting, while
// OMV_CONCAT_HELPER performs the raw token pasting (x##y).
#define OMV_CONCAT_HELPER(x, y) x##y
#define OMV_CONCAT_STR(x, y) OMV_CONCAT_HELPER(x, y)
// Returns a pointer to the containing structure
// ptr: Pointer to the member within the structure

365
common/omv_profiler.c Normal file
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@ -0,0 +1,365 @@
/*
* SPDX-License-Identifier: MIT
*
* Copyright (C) 2025 OpenMV, LLC.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*
* OpenMV code profiler.
*/
#if OMV_PROFILER_ENABLE
#include <stdio.h>
#include <stdint.h>
#include <string.h>
#include "py/mphal.h"
#include "omv_profiler.h"
#if __PMU_PRESENT
#define OMV_GET_CYCLE_COUNT() ARM_PMU_Get_CCNTR()
#define OMV_GET_EVENT_COUNT(i) ARM_PMU_Get_EVCNTR(i)
#else
#define OMV_GET_CYCLE_COUNT() 0
#define OMV_GET_EVENT_COUNT(i) 0
#endif // __PMU_PRESENT
#define OMV_GET_TICKS_COUNT() ticks_us_monotonic()
// Call stack entry for tracking nested calls
typedef struct {
void *func_addr; // Function address
void *call_addr; // Call site address
uint32_t enter_ticks; // Timestamp on entry
uint32_t enter_cycles; // Cycle count on entry
uint64_t child_ticks; // Total child execution time
uint64_t child_cycles; // Total child cycle count
#if __PMU_PRESENT
uint16_t enter_events[__PMU_NUM_EVENTCNT]; // PMU events on entry
uint64_t child_events[__PMU_NUM_EVENTCNT]; // Total child PMU events
#endif
} omv_stack_entry_t;
typedef struct {
bool initialized; // Profiler state.
mutex_t mutex; // Protects profile data
bool reset_pending; // Reset requested flag
omv_profiler_mode_t mode; // Inclusive/exclusive mode
uint32_t collisions; // Hash table collision count
omv_profiler_data_t *hash[OMV_PROFILER_HASH_SIZE]; // Hash table buckets
uint32_t pool_index; // Next free pool entry
omv_profiler_data_t pool[OMV_PROFILER_HASH_SIZE]; // Entry pool
int32_t stack_top; // Current stack position
uint32_t stack_depth; // Max stack depth reached
omv_stack_entry_t stack[OMV_PROFILER_STACK_DEPTH]; // Call stack
} omv_profiler_state_t;
static omv_profiler_state_t profiler;
#define profiler_stack_top(x) profiler.stack[profiler.stack_top].x
#define profiler_stack_prv(x) profiler.stack[profiler.stack_top - 1].x
static OMV_ATTR_NO_INSTRUMENT mp_uint_t ticks_us_monotonic(void) {
static mp_uint_t last_timestamp = 0;
mp_uint_t current = mp_hal_ticks_us();
// Ensure monotonic behavior
if (current > last_timestamp) {
last_timestamp = current;
}
return last_timestamp;
}
static inline uint32_t OMV_ATTR_NO_INSTRUMENT hash_address(void *addr) {
uint32_t x = (uint32_t) addr >> 2; // drop thumb bit + alignment bits
// mix (Murmur finalizer style)
x ^= x >> 16;
x *= 0x7feb352dU;
x ^= x >> 15;
x *= 0x846ca68bU;
x ^= x >> 16;
return x & (OMV_PROFILER_HASH_SIZE - 1);
}
// Initialize profiling system
void omv_profiler_init(void) {
if (!profiler.initialized) {
// Reset state
memset(&profiler, 0, sizeof(profiler));
#if __PMU_PRESENT
// Enable PMU
ARM_PMU_Enable();
// Disable all event counters
ARM_PMU_CNTR_Disable(((1U << __PMU_NUM_EVENTCNT) - 1));
// Enable cycles counter.
ARM_PMU_CNTR_Enable(PMU_CNTENSET_CCNTR_ENABLE_Msk);
// Enable Trace
CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
#endif
}
// Initialize mutex
mutex_init0(&profiler.mutex);
profiler.initialized = true;
}
void omv_profiler_reset(void) {
if (!mutex_try_lock(&profiler.mutex, MUTEX_TID_OMV)) {
// Set a pending reset if the data is locked.
profiler.reset_pending = true;
} else {
// Reset state
profiler.pool_index = 0;
profiler.stack_top = -1;
profiler.stack_depth = 0;
profiler.collisions = 0;
profiler.reset_pending = false;
// Clear hash table
memset(profiler.hash, 0, sizeof(profiler.hash));
memset(profiler.pool, 0, sizeof(profiler.pool));
memset(profiler.stack, 0, sizeof(profiler.stack));
mutex_unlock(&profiler.mutex, MUTEX_TID_OMV);
}
}
mutex_t *omv_profiler_lock(void) {
return &profiler.mutex;
}
void *omv_profiler_get_data(size_t *count) {
*count = profiler.pool_index;
return profiler.pool;
}
void omv_profiler_set_mode(uint32_t mode) {
profiler.mode = mode;
profiler.reset_pending = true;
}
void omv_profiler_set_event(uint32_t num, uint32_t type) {
#if __PMU_PRESENT
if (num < __PMU_NUM_EVENTCNT) {
ARM_PMU_Disable();
// Configure and enable event counter.
ARM_PMU_Set_EVTYPER(num, type);
ARM_PMU_CNTR_Enable(1 << num);
// Reset all event counters
ARM_PMU_EVCNTR_ALL_Reset();
// Enable PMU
ARM_PMU_Enable();
}
#endif
profiler.reset_pending = true;
}
static omv_profiler_data_t *omv_profiler_get_entry(void *func_addr) {
uint32_t hash = hash_address(func_addr);
omv_profiler_data_t *entry = profiler.hash[hash];
// Search existing entries in collision chain
while (entry != NULL) {
if (entry->func_addr == func_addr) {
return entry;
}
entry = entry->next;
}
// Create new entry if not found
if (profiler.pool_index >= OMV_PROFILER_HASH_SIZE) {
// Pool exhausted
return NULL;
}
entry = &profiler.pool[profiler.pool_index++];
memset(entry, 0, sizeof(omv_profiler_data_t));
entry->min_ticks = UINT32_MAX;
// Insert at head of collision chain
if (profiler.hash[hash] != NULL) {
profiler.collisions++;
}
entry->next = profiler.hash[hash];
profiler.hash[hash] = entry;
return entry;
}
void OMV_ATTR_NO_INSTRUMENT __cyg_profile_func_enter(void *func_addr, void *call_addr) {
uint32_t enter_ticks = OMV_GET_TICKS_COUNT();
uint32_t enter_cycles = OMV_GET_CYCLE_COUNT();
if (func_addr == NULL || call_addr == NULL) {
return;
}
// Skip profiling if called from IRQ context
#if !OMV_PROFILER_IRQ_ENABLE
if ((SCB->ICSR & SCB_ICSR_VECTACTIVE_Msk)) {
return;
}
#endif
// Restart profiler if needed
if (profiler.reset_pending) {
return omv_profiler_reset();
}
// Update call stack
profiler.stack_top++;
if (profiler.stack_top >= OMV_PROFILER_STACK_DEPTH) {
profiler.stack_top = OMV_PROFILER_STACK_DEPTH - 1;
return;
}
if (profiler.stack_top > (int32_t)profiler.stack_depth) {
profiler.stack_depth = profiler.stack_top;
}
profiler_stack_top(func_addr) = func_addr;
profiler_stack_top(call_addr) = call_addr;
profiler_stack_top(child_ticks) = 0;
profiler_stack_top(enter_ticks) = enter_ticks;
profiler_stack_top(child_cycles) = 0;
profiler_stack_top(enter_cycles) = enter_cycles;
#if __PMU_PRESENT
for (size_t i = 0; i < __PMU_NUM_EVENTCNT; i++) {
profiler_stack_top(child_events[i]) = 0;
profiler_stack_top(enter_events[i]) = OMV_GET_EVENT_COUNT(i);
}
#endif
}
void OMV_ATTR_NO_INSTRUMENT __cyg_profile_func_exit(void *func_addr, void *call_addr) {
uint32_t exit_ticks = OMV_GET_TICKS_COUNT();
uint32_t exit_cycles = OMV_GET_CYCLE_COUNT();
if (func_addr == NULL || call_addr == NULL) {
return;
}
// Skip profiling if called from IRQ context
#if !OMV_PROFILER_IRQ_ENABLE
if ((SCB->ICSR & SCB_ICSR_VECTACTIVE_Msk)) {
return;
}
#endif
// Restart profiler if needed
if (profiler.reset_pending) {
return omv_profiler_reset();
}
// Update events
#if __PMU_PRESENT
uint16_t exit_events[__PMU_NUM_EVENTCNT];
for (size_t i = 0; i < __PMU_NUM_EVENTCNT; i++) {
exit_events[i] = OMV_GET_EVENT_COUNT(i);
}
#endif
if (profiler.stack_top < 0 || profiler.stack_top >= OMV_PROFILER_STACK_DEPTH) {
return;
}
// Function address should match the stack's top.
if (func_addr != profiler_stack_top(func_addr) ||
call_addr != profiler_stack_top(call_addr)) {
goto exit_cleanup;
}
// Protect profile data update via mutex.
if (!mutex_try_lock(&profiler.mutex, MUTEX_TID_OMV)) {
goto exit_cleanup;
}
// Calculate inclusive ticks and cycles
uint32_t incl_ticks = exit_ticks - profiler_stack_top(enter_ticks);
uint32_t incl_cycles = exit_cycles - profiler_stack_top(enter_cycles);
// Calculate exclusive ticks and cycles
uint32_t excl_ticks = incl_ticks - profiler_stack_top(child_ticks);
uint32_t excl_cycles = incl_cycles - profiler_stack_top(child_cycles);
// Check if this entry makes sense.
if (incl_ticks < excl_ticks || incl_cycles < excl_cycles) {
goto mutex_unlock;
}
// Get or create a new entry
omv_profiler_data_t *entry = omv_profiler_get_entry(func_addr);
if (entry == NULL) {
goto mutex_unlock;
}
entry->call_count++;
entry->func_addr = func_addr;
entry->call_addr = call_addr;
entry->total_ticks += excl_ticks;
entry->total_cycles += excl_cycles;
if (excl_ticks > entry->max_ticks) {
entry->max_ticks = excl_ticks;
}
if (excl_ticks < entry->min_ticks) {
entry->min_ticks = excl_ticks;
}
// In exclusive mode, updated the parent's child counters.
if (profiler.stack_top && profiler.mode == OMV_PROFILER_EXCLUSIVE) {
profiler_stack_prv(child_ticks) += incl_ticks;
profiler_stack_prv(child_cycles) += incl_cycles;
}
#if __PMU_PRESENT
for (size_t i = 0; i < __PMU_NUM_EVENTCNT; i++) {
uint16_t incl_events = exit_events[i] - profiler_stack_top(enter_events[i]);
uint16_t excl_events = incl_events - profiler_stack_top(child_events[i]);
entry->total_events[i] += excl_events;
// In exclusive mode, updated the parent's child counters.
if (profiler.stack_top && profiler.mode == OMV_PROFILER_EXCLUSIVE) {
profiler_stack_prv(child_events[i]) += incl_events;
}
}
#endif
mutex_unlock:
mutex_unlock(&profiler.mutex, MUTEX_TID_OMV);
exit_cleanup:
profiler.stack_top--;
}
#endif // OMV_PROFILER_ENABLE

102
common/omv_profiler.h Normal file
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@ -0,0 +1,102 @@
/*
* SPDX-License-Identifier: MIT
*
* Copyright (C) 2025 OpenMV, LLC.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*
* OpenMV code profiler.
*/
#ifndef __OMV_PROFILER_H__
#define __OMV_PROFILER_H__
#if OMV_PROFILER_ENABLE
#include <stdio.h>
#include "py/mphal.h"
#if __PMU_PRESENT
#include "pmu_armv8.h"
#endif
#ifndef __cplusplus
#include "common/mutex.h"
#endif
#include "common/omv_common.h"
#ifndef __PMU_NUM_EVENTCNT
#define __PMU_NUM_EVENTCNT 0
#endif
// Must be a power of 2
#ifndef OMV_PROFILER_HASH_SIZE
#define OMV_PROFILER_HASH_SIZE 256
#endif
#ifndef OMV_PROFILER_STACK_DEPTH
#define OMV_PROFILER_STACK_DEPTH 32
#endif
typedef enum {
OMV_PROFILER_INCLUSIVE = 0,
OMV_PROFILER_EXCLUSIVE = 1,
} omv_profiler_mode_t;
// Profile record structure
typedef struct __attribute__((packed)) _prof_data {
void *func_addr; // Function address
void *call_addr; // Caller address
uint32_t call_count; // Number of times called
uint32_t min_ticks; // Minimum execution time
uint32_t max_ticks; // Maximum execution time
uint64_t total_ticks; // Total time in ticks
uint64_t total_cycles; // Total CPU cycles
#if __PMU_PRESENT
uint64_t total_events[__PMU_NUM_EVENTCNT];
#endif
struct _prof_data *next; // Next in hash collision chain
} omv_profiler_data_t;
OMV_ATTR_NO_INSTRUMENT void omv_profiler_init(void);
OMV_ATTR_NO_INSTRUMENT void omv_profiler_reset(void);
OMV_ATTR_NO_INSTRUMENT void *omv_profiler_get_data(size_t *count);
OMV_ATTR_NO_INSTRUMENT void omv_profiler_set_mode(uint32_t mode);
OMV_ATTR_NO_INSTRUMENT void omv_profiler_set_event(uint32_t num, uint32_t type);
#ifndef __cplusplus
OMV_ATTR_NO_INSTRUMENT mutex_t *omv_profiler_lock(void);
#endif
// Manual instrumentation macros
#define OMV_PROFILER_ENTER(func) \
do { \
void *func_addr = (void*)(func); \
void *call_addr = __builtin_return_address(0); \
__cyg_profile_func_enter(func_addr, call_addr); \
} while(0)
#define OMV_PROFILER_EXIT(func) \
do { \
void *func_addr = (void*)(func); \
void *call_addr = __builtin_return_address(0); \
__cyg_profile_func_exit(func_addr, call_addr); \
} while(0)
#else
// Disabled - empty macros
#define OMV_PROFILER_ENTER(func) do {} while(0)
#define OMV_PROFILER_EXIT(func) do {} while(0)
#endif // OMV_PROFILER_ENABLE
#endif // __OMV_PROFILER_H__

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@ -57,7 +57,6 @@ extern uint32_t usb_cdc_buf_len();
extern uint32_t usb_cdc_get_buf(uint8_t *buf, uint32_t len);
extern void usb_cdc_reset_buffers(void);
void usbdbg_init() {
cmd = USBDBG_NONE;
script_ready = false;
@ -67,6 +66,9 @@ void usbdbg_init() {
#if OMV_TUSBDBG_ENABLE
tinyusb_debug_init();
#endif
#if OMV_PROFILER_ENABLE
omv_profiler_init();
#endif
}
bool usbdbg_script_ready() {
@ -166,7 +168,7 @@ void usbdbg_data_in(uint32_t size, usbdbg_write_callback_t write_callback) {
// Return 0 if FB is locked or not ready.
uint32_t buffer[3] = { 0 };
// Try to lock FB. If header size == 0 frame is not ready
if (mutex_try_lock_fair(&JPEG_FB()->lock, MUTEX_TID_IDE)) {
if (mutex_try_lock(&JPEG_FB()->lock, MUTEX_TID_IDE)) {
// If header size == 0 frame is not ready
if (JPEG_FB()->size == 0) {
// unlock FB
@ -231,15 +233,23 @@ void usbdbg_data_in(uint32_t size, usbdbg_write_callback_t write_callback) {
// Set script running flag
if (script_running) {
buffer[0] |= USBDBG_STATE_FLAGS_SCRIPT;
buffer[0] |= USBDBG_FLAG_SCRIPT_RUNNING;
}
// Set text buf valid flag.
uint32_t tx_buf_len = usb_cdc_buf_len();
if (tx_buf_len) {
buffer[0] |= USBDBG_STATE_FLAGS_TEXT;
buffer[0] |= USBDBG_FLAG_TEXTBUF_NOTEMPTY;
}
// Set code profiling flags
#if OMV_PROFILER_ENABLE
buffer[0] |= USBDBG_FLAG_PROFILE_ENABLED;
#if __PMU_PRESENT
buffer[0] |= USBDBG_FLAG_PROFILE_HAS_PMU;
#endif // __PMU_PRESENT
#endif // OMV_PROFILER_ENABLE
// Limit the frames sent over USB to 20Hz.
if (check_timeout_ms(last_update_ms, 50) &&
mutex_try_lock_fair(&JPEG_FB()->lock, MUTEX_TID_IDE)) {
@ -249,7 +259,7 @@ void usbdbg_data_in(uint32_t size, usbdbg_write_callback_t write_callback) {
mutex_unlock(&JPEG_FB()->lock, MUTEX_TID_IDE);
} else {
// Set valid frame flag.
buffer[0] |= USBDBG_STATE_FLAGS_FRAME;
buffer[0] |= USBDBG_FLAG_FRAMEBUF_LOCKED;
// Set frame width, height and size/bpp
buffer[1] = JPEG_FB()->w;
@ -272,6 +282,40 @@ void usbdbg_data_in(uint32_t size, usbdbg_write_callback_t write_callback) {
break;
}
case USBDBG_PROFILE_SIZE: {
// Return 0 if the profiling data is locked.
uint32_t buffer[3] = { 0 };
#if OMV_PROFILER_ENABLE
if (mutex_try_lock(omv_profiler_lock(), MUTEX_TID_IDE)) {
size_t count = 0;
(void) omv_profiler_get_data(&count);
buffer[0] = count;
buffer[1] = sizeof(omv_profiler_data_t);
buffer[2] = __PMU_NUM_EVENTCNT;
}
#endif
cmd = USBDBG_NONE;
write_callback(&buffer, sizeof(buffer));
break;
}
#if OMV_PROFILER_ENABLE
case USBDBG_PROFILE_DUMP:
if (xfer_offs < xfer_size) {
size_t count = 0;
char *data = omv_profiler_get_data(&count);
write_callback(data + xfer_offs, size);
xfer_offs += size;
if (xfer_offs == xfer_size) {
cmd = USBDBG_NONE;
mutex_unlock(omv_profiler_lock(), MUTEX_TID_IDE);
}
}
break;
#endif
default: /* error */
break;
}
@ -310,6 +354,26 @@ void usbdbg_data_out(uint32_t size, usbdbg_read_callback_t read_callback) {
}
break;
case USBDBG_PROFILE_MODE: {
uint32_t buffer[1];
read_callback(&buffer, sizeof(buffer));
#if OMV_PROFILER_ENABLE
omv_profiler_set_mode(buffer[0]);
#endif
cmd = USBDBG_NONE;
break;
}
case USBDBG_PROFILE_EVENT: {
uint32_t buffer[2];
read_callback(&buffer, sizeof(buffer));
#if OMV_PROFILER_ENABLE
omv_profiler_set_event(buffer[0], buffer[1]);
#endif
cmd = USBDBG_NONE;
break;
}
default: /* error */
break;
}
@ -327,13 +391,25 @@ void usbdbg_control(void *buffer, uint8_t request, uint32_t size) {
case USBDBG_TX_BUF_LEN:
case USBDBG_SENSOR_ID:
case USBDBG_GET_STATE:
case USBDBG_PROFILE_SIZE:
case USBDBG_PROFILE_DUMP:
case USBDBG_PROFILE_MODE:
case USBDBG_PROFILE_EVENT:
case USBDBG_SCRIPT_EXEC:
xfer_offs = 0;
xfer_size = size;
break;
case USBDBG_PROFILE_RESET: {
#if OMV_PROFILER_ENABLE
omv_profiler_reset();
#endif
cmd = USBDBG_NONE;
break;
}
case USBDBG_SCRIPT_RUNNING:
vstr_reset(&script_buf);
case USBDBG_SCRIPT_EXEC:
xfer_offs = 0;
xfer_size = size;
break;

View File

@ -61,13 +61,20 @@ enum usbdbg_cmd {
USBDBG_TX_BUF = 0x8F,
USBDBG_SENSOR_ID = 0x90,
USBDBG_GET_STATE = 0x93,
USBDBG_PROFILE_SIZE = 0x94,
USBDBG_PROFILE_DUMP = 0x95,
USBDBG_PROFILE_MODE = 0x16,
USBDBG_PROFILE_EVENT = 0x17,
USBDBG_PROFILE_RESET = 0x18,
};
enum usbdbg_state_flags {
USBDBG_STATE_FLAGS_SCRIPT = (1 << 0),
USBDBG_STATE_FLAGS_TEXT = (1 << 1),
USBDBG_STATE_FLAGS_FRAME = (1 << 2),
};
typedef enum {
USBDBG_FLAG_SCRIPT_RUNNING = (1 << 0),
USBDBG_FLAG_TEXTBUF_NOTEMPTY = (1 << 1),
USBDBG_FLAG_FRAMEBUF_LOCKED = (1 << 2),
USBDBG_FLAG_PROFILE_ENABLED = (1 << 3),
USBDBG_FLAG_PROFILE_HAS_PMU = (1 << 4),
} usbdbg_flags_t;
typedef uint32_t (*usbdbg_read_callback_t) (void *buf, uint32_t len);
typedef uint32_t (*usbdbg_write_callback_t) (const void *buf, uint32_t len);

View File

@ -1160,7 +1160,6 @@ void imlib_debayer_line(int x_start, int x_end, int y_row, void *dst_row_ptr, pi
// assumes dst->h == src->h
// src and dst may not overlap, but, faster than imlib_debayer_image_awb
void imlib_debayer_image(image_t *dst, image_t *src) {
OMV_PROFILE_START();
rectangle_t roi = {
.x = 0,
.y = 0,
@ -1168,7 +1167,6 @@ void imlib_debayer_image(image_t *dst, image_t *src) {
.h = src->h,
};
vdebayer(src, &roi, 0, dst);
OMV_PROFILE_PRINT();
}
#if defined(IMLIB_ENABLE_DEBAYER_OPTIMIZATION)
@ -2294,8 +2292,6 @@ static void vdebayer_rggb_to_rgb565_awb_quarter(image_t *src, image_t *dst, uint
// RGB565: src->data == dst->data + image_size(src)
// YUV422: Not supported
void imlib_debayer_image_awb(image_t *dst, image_t *src, bool fast, uint32_t r_out, uint32_t g_out, uint32_t b_out) {
OMV_PROFILE_START();
uint32_t red_gain = IM_DIV(g_out * 32, r_out);
red_gain = IM_MIN(red_gain, 128U);
@ -2459,6 +2455,4 @@ void imlib_debayer_image_awb(image_t *dst, image_t *src, bool fast, uint32_t r_o
}
}
}
OMV_PROFILE_PRINT();
}

View File

@ -2838,7 +2838,6 @@ void imlib_draw_image(image_t *dst_img,
imlib_draw_row_callback_t callback,
void *callback_arg,
void *dst_row_override) {
OMV_PROFILE_START();
int dst_delta_x = 1; // positive direction
if (x_scale < 0.f) {
// flip X
@ -5404,7 +5403,6 @@ exit_cleanup:
if (&new_src_img == src_img) {
fb_free();
}
OMV_PROFILE_PRINT();
}
#ifdef IMLIB_ENABLE_FLOOD_FILL

View File

@ -44,6 +44,7 @@
#include "imlib_config.h"
#include "omv_boardconfig.h"
#include "omv_common.h"
#include "omv_profiler.h"
#include "py/runtime.h"
// Enables 38 TensorFlow Lite operators.

View File

@ -85,4 +85,11 @@ ifeq ($(CLANG_ENABLE),1)
OMV_CLANG_OBJ = $(BUILD)/lib/imlib/bayer.o
endif
# Enable instrumentation.
ifeq ($(PROFILE_ENABLE), 1)
$(BUILD)/lib/imlib/%.o: override CFLAGS += -finstrument-functions
# Clang does not support -finstrument-functions-exclude-file-list.
$(OMV_CLANG_OBJ): override CFLAGS := $(filter-out -finstrument-functions-exclude-file-list=%,$(CFLAGS))
endif
OMV_FIRM_OBJ += $(addprefix $(BUILD)/lib/imlib/, $(IMLIB_SRC_C:.c=.o))

View File

@ -2858,7 +2858,6 @@ static int DecodeJPEG(JPEGIMAGE *pJPEG) {
}
void jpeg_decompress(image_t *dst, image_t *src) {
OMV_PROFILE_START();
JPEGIMAGE jpg;
// Supports decoding baseline JPEGs only.
@ -2898,7 +2897,5 @@ void jpeg_decompress(image_t *dst, image_t *src) {
if (JPEG_decode(&jpg, 0, 0, 0) == 0) {
mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("JPEG decoder failed."));
}
OMV_PROFILE_PRINT();
}
#endif

View File

@ -931,8 +931,6 @@ static void jpeg_write_headers(jpeg_buf_t *jpeg_buf, int w, int h, int bpp, jpeg
}
bool jpeg_compress(image_t *src, image_t *dst, int quality, bool realloc, jpeg_subsampling_t subsampling) {
OMV_PROFILE_START();
if (!dst->data) {
uint32_t size = 0;
dst->data = fb_alloc_all(&size, FB_ALLOC_PREFER_SIZE | FB_ALLOC_CACHE_ALIGN);
@ -1261,8 +1259,6 @@ bool jpeg_compress(image_t *src, image_t *dst, int quality, bool realloc, jpeg_s
dst->size = jpeg_buf.idx;
dst->data = jpeg_buf.buf;
OMV_PROFILE_PRINT();
return false;
}

View File

@ -120,8 +120,6 @@ unsigned lodepng_convert_cb(unsigned char *out, const unsigned char *in,
#if defined(IMLIB_ENABLE_PNG_ENCODER)
bool png_compress(image_t *src, image_t *dst) {
OMV_PROFILE_START();
if (src->is_compressed) {
return true;
}
@ -192,14 +190,12 @@ bool png_compress(image_t *src, image_t *dst) {
// free fb_alloc() memory used for umm_init_x().
fb_free(); // umm_init_x();
}
OMV_PROFILE_PRINT();
return false;
}
#endif // IMLIB_ENABLE_PNG_ENCODER
#if defined(IMLIB_ENABLE_PNG_DECODER)
void png_decompress(image_t *dst, image_t *src) {
OMV_PROFILE_START();
umm_init_x(fb_avail());
LodePNGState state;
@ -241,7 +237,6 @@ void png_decompress(image_t *dst, image_t *src) {
// free fb_alloc() memory used for umm_init_x().
fb_free(); // umm_init_x();
OMV_PROFILE_PRINT();
}
#endif // IMLIB_ENABLE_PNG_DECODER
#endif // IMLIB_ENABLE_PNG_ENCODER || IMLIB_ENABLE_PNG_DECODER

View File

@ -78,6 +78,11 @@ $(BUILD)/lib/stai/libstai/ll_aton/%.o: override CFLAGS += \
-Wno-double-promotion \
$(STAI_CFLAGS) \
# Enable instrumentation.
ifeq ($(PROFILE_ENABLE), 1)
$(BUILD)/lib/stai/stai_backend.o: override CFLAGS += -finstrument-functions
endif
OMV_CFLAGS += -I$(TOP_DIR)/lib/stai/libstai/include
OMV_FIRM_OBJ += $(addprefix $(BUILD)/lib/stai/, $(STAI_SRC_C:.c=.o))
endif

View File

@ -50,6 +50,5 @@ $(BUILD)/lib/tflm/tflm_backend.o: CXXFLAGS = \
OMV_CFLAGS += -I$(TOP_DIR)/lib/tflm/libtflm/include
OMV_CFLAGS += -I$(TOP_DIR)/lib/tflm/libtflm/include/third_party/ethos_u_core_driver/include
OMV_FIRM_OBJ += $(addprefix $(BUILD)/lib/tflm/, $(TFLM_SRC_CC:.cc=.o))
endif

View File

@ -51,6 +51,7 @@ extern "C" {
#include "py/binary.h"
#include "py/gc.h"
#include "py_ml.h"
#include "common/omv_profiler.h"
using namespace tflite;
#define TF_ARENA_EXTRA (512)
@ -319,6 +320,8 @@ int ml_backend_init_model(py_ml_model_obj_t *model) {
}
int ml_backend_run_inference(py_ml_model_obj_t *model) {
OMV_PROFILER_ENTER(ml_backend_run_inference);
RegisterDebugLogCallback(ml_backend_log_handler);
ml_backend_state_t *state = (ml_backend_state_t *) model->state;
@ -326,6 +329,7 @@ int ml_backend_run_inference(py_ml_model_obj_t *model) {
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Invoke failed"));
}
OMV_PROFILER_EXIT(ml_backend_run_inference);
return 0;
}

View File

@ -66,3 +66,10 @@ ifeq ($(DEBUG), 0)
# Use a higher optimization level for user C modules.
$(BUILD)/modules/%.o: override CFLAGS += $(USERMOD_OPT)
endif
ifeq ($(PROFILE_ENABLE), 1)
$(BUILD)/modules/py_ml.o: override CFLAGS += -finstrument-functions
$(BUILD)/modules/py_image.o: override CFLAGS += -finstrument-functions
$(BUILD)/modules/ulab/%.o: override CFLAGS += -finstrument-functions
endif

View File

@ -731,7 +731,6 @@ static MP_DEFINE_CONST_FUN_OBJ_1(py_image_bytearray_obj, py_image_bytearray);
#if defined(MODULE_ULAB_ENABLED) && (ULAB_MAX_DIMS == 4)
static mp_obj_t py_image_to_ndarray(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
OMV_PROFILE_START();
enum { ARG_dtype, ARG_buffer };
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_dtype, MP_ARG_OBJ | MP_ARG_REQUIRED, {.u_rom_obj = MP_ROM_NONE } },
@ -906,8 +905,6 @@ static mp_obj_t py_image_to_ndarray(size_t n_args, const mp_obj_t *pos_args, mp_
}
}
}
OMV_PROFILE_PRINT();
return MP_OBJ_FROM_PTR(ndarray);
}
static MP_DEFINE_CONST_FUN_OBJ_KW(py_image_to_ndarray_obj, 1, py_image_to_ndarray);

View File

@ -254,14 +254,8 @@ static mp_obj_t py_ml_model_predict(size_t n_args, const mp_obj_t *pos_args, mp_
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Unsupported input type. Expected a list"));
}
OMV_PROFILE_START(preprocess);
py_ml_process_input(model, pos_args[1]);
OMV_PROFILE_PRINT(preprocess);
OMV_PROFILE_START(inference);
ml_backend_run_inference(model);
OMV_PROFILE_PRINT(inference);
mp_obj_t output = py_ml_process_output(model);
if (args[ARG_callback].u_obj != mp_const_none) {

View File

@ -135,7 +135,6 @@ int omv_gpu_draw_image(image_t *src_img,
if (color_palette || alpha_palette || transform) {
return -1;
}
OMV_PROFILE_START();
d2_s32 err;
d2_u32 blit_flags = 0;
@ -183,7 +182,6 @@ int omv_gpu_draw_image(image_t *src_img,
// Invalidate the framebuffer image.
SCB_InvalidateDCache_by_Addr(dst_img->data, image_size(dst_img));
OMV_PROFILE_PRINT();
return 0;
}

View File

@ -27,3 +27,9 @@ CFLAGS += -I$(TOP_DIR)/ports/$(PORT)/modules
PORT_SRC_C = $(wildcard ports/$(PORT)/*.c)
OMV_FIRM_OBJ += $(addprefix $(BUILD)/, $(PORT_SRC_C:.c=.o))
# Enable instrumentation.
ifeq ($(PROFILE_ENABLE), 1)
$(BUILD)/ports/alif/%.o: override CFLAGS += -finstrument-functions
$(BUILD)/ports/stm32/%.o: override CFLAGS += -finstrument-functions
endif

View File

@ -95,8 +95,6 @@ int omv_gpu_draw_image(image_t *src_img,
const uint8_t *alpha_palette,
image_hint_t hint,
float *transform) {
OMV_PROFILE_START();
// GPU2D can only draw on RGB565/GRAYSCALE buffers.
if ((dst_img->pixfmt != PIXFORMAT_RGB565) && (dst_img->pixfmt != PIXFORMAT_GRAYSCALE)) {
return -1;
@ -197,8 +195,6 @@ int omv_gpu_draw_image(image_t *src_img,
HAL_ICACHE_Invalidate_IT();
SCB_InvalidateDCache_by_Addr(dst_img->data, image_size(dst_img));
OMV_PROFILE_PRINT();
return 0;
}
#else
@ -211,8 +207,6 @@ int omv_gpu_draw_image(image_t *src_img,
const uint8_t *alpha_palette,
image_hint_t hint,
float *transform) {
OMV_PROFILE_START();
// DMA2D can only draw on RGB565 buffers and the destination/source buffers must be accessible by DMA.
if ((dst_img->pixfmt != PIXFORMAT_RGB565) || (!DMA_BUFFER(dst_img->data)) || (!DMA_BUFFER(src_img->data))) {
return -1;
@ -401,8 +395,6 @@ int omv_gpu_draw_image(image_t *src_img,
#endif
HAL_DMA2D_DeInit(&dma2d);
OMV_PROFILE_PRINT();
return 0;
}
#endif // OMV_GPU_NEMA

View File

@ -129,7 +129,6 @@ static void jpeg_compress_data_ready(JPEG_HandleTypeDef *hjpeg, uint8_t *pDataOu
}
bool jpeg_compress(image_t *src, image_t *dst, int quality, bool realloc, jpeg_subsampling_t subsampling) {
OMV_PROFILE_START();
HAL_JPEG_RegisterGetDataCallback(&JPEG_state.jpeg_descr, jpeg_compress_get_data);
HAL_JPEG_RegisterDataReadyCallback(&JPEG_state.jpeg_descr, jpeg_compress_data_ready);
@ -394,8 +393,6 @@ exit_cleanup:
HAL_JPEG_UnRegisterGetDataCallback(&JPEG_state.jpeg_descr);
fb_free(); // mcu_row_buffer (after DMA is aborted)
OMV_PROFILE_PRINT();
return jpeg_overflow;
}
@ -427,8 +424,6 @@ static void jpeg_decompress_data_ready(JPEG_HandleTypeDef *hjpeg, uint8_t *pData
}
void jpeg_decompress(image_t *dst, image_t *src) {
OMV_PROFILE_START();
// Verify the jpeg image is not a non-baseline jpeg image and check that is has
// valid headers up to the start-of-scan header (which cannot be trivially walked).
if (!jpeg_is_valid(src)) {
@ -795,8 +790,6 @@ exit_cleanup:
if (((uint32_t) src->data) % __SCB_DCACHE_LINE_SIZE) {
fb_free(); // JPEG_state.jpeg_descr.pJpegInBuffPtr (after DMA is aborted)
}
OMV_PROFILE_PRINT();
}
void imlib_hardware_jpeg_init() {

View File

@ -54,8 +54,11 @@ ci_build_target() {
make -j$(nproc) -C docker TARGET=${BOARD}
else
make -j$(nproc) -C lib/micropython/mpy-cross
make -j$(nproc) TARGET=${1}
mv build/bin ${1}
make -j$(nproc) TARGET=${1} PROFILE_ENABLE=${2}
# Don't copy artifacts for profiling builds
if [ "$2" = 0 ]; then
mv build/bin ${1}
fi
fi
}

View File

@ -1,4 +1,4 @@
#!/usr/bin/env python2
#!/usr/bin/env python
# This file is part of the OpenMV project.
#
# Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
@ -16,7 +16,7 @@ import numpy as np
from PIL import Image
__serial = None
__FB_HDR_SIZE =12
__FB_HDR_SIZE = 12
# USB Debug commands
__USBDBG_CMD = 48
@ -38,20 +38,27 @@ __USBDBG_FB_ENABLE = 0x0D
__USBDBG_TX_BUF_LEN = 0x8E
__USBDBG_TX_BUF = 0x8F
__USBDBG_GET_STATE = 0x93
__USBDBG_PROFILE_SIZE = 0x94
__USBDBG_PROFILE_DUMP = 0x95
__USBDBG_PROFILE_MODE = 0x16
__USBDBG_PROFILE_EVENT = 0x17
__USBDBG_PROFILE_RESET = 0x18
__USBDBG_STATE_FLAGS_SCRIPT = (1 << 0)
__USBDBG_STATE_FLAGS_TEXT = (1 << 1)
__USBDBG_STATE_FLAGS_FRAME = (1 << 2)
__USBDBG_FLAG_SCRIPT_RUNNING = (1 << 0)
__USBDBG_FLAG_TEXTBUF_NOTEMPTY = (1 << 1)
__USBDBG_FLAG_FRAMEBUF_LOCKED = (1 << 2)
__USBDBG_FLAG_PROFILE_ENABLED = (1 << 3)
__USBDBG_FLAG_PROFILE_HAS_PMU = (1 << 4)
ATTR_CONTRAST =0
ATTR_BRIGHTNESS =1
ATTR_SATURATION =2
ATTR_GAINCEILING=3
ATTR_CONTRAST = 0
ATTR_BRIGHTNESS = 1
ATTR_SATURATION = 2
ATTR_GAINCEILING = 3
__BOOTLDR_START = 0xABCD0001
__BOOTLDR_RESET = 0xABCD0002
__BOOTLDR_ERASE = 0xABCD0004
__BOOTLDR_WRITE = 0xABCD0008
__BOOTLDR_START = 0xABCD0001
__BOOTLDR_RESET = 0xABCD0002
__BOOTLDR_ERASE = 0xABCD0004
__BOOTLDR_WRITE = 0xABCD0008
def init(port, baudrate=921600, timeout=0.3):
global __serial
@ -67,29 +74,40 @@ def disconnect():
except:
pass
def write_pack(fmt, *values):
__serial.write(struct.pack(fmt, *values))
def read_unpack(fmt):
return struct.unpack(fmt, __serial.read(struct.calcsize(fmt)))
def set_timeout(timeout):
__serial.timeout = timeout
def fb_size():
# read fb header
__serial.write(struct.pack("<BBI", __USBDBG_CMD, __USBDBG_FRAME_SIZE, __FB_HDR_SIZE))
return struct.unpack("III", __serial.read(12))
write_pack("<BBI", __USBDBG_CMD, __USBDBG_FRAME_SIZE, __FB_HDR_SIZE)
return read_unpack("III")
def read_state():
__serial.write(struct.pack("<BBI", __USBDBG_CMD, __USBDBG_GET_STATE, 64))
flags, w, h, size, text_buf = struct.unpack("IIII48s", __serial.read(64))
write_pack("<BBI", __USBDBG_CMD, __USBDBG_GET_STATE, 64)
flags, w, h, size, text_buf = read_unpack("IIII48s")
text = None
if flags & __USBDBG_STATE_FLAGS_TEXT:
profile = False
if flags & __USBDBG_FLAG_PROFILE_ENABLED:
profile = True
if flags & __USBDBG_FLAG_TEXTBUF_NOTEMPTY:
text = text_buf.split(b'\0', 1)[0].decode()
if flags & __USBDBG_STATE_FLAGS_FRAME == 0:
return 0, 0, None, 0, text, ""
if flags & __USBDBG_FLAG_FRAMEBUF_LOCKED == 0:
return 0, 0, None, 0, text, "", profile
num_bytes = size if size > 2 else (w * h * size)
# read fb data
__serial.write(struct.pack("<BBI", __USBDBG_CMD, __USBDBG_FRAME_DUMP, num_bytes))
write_pack("<BBI", __USBDBG_CMD, __USBDBG_FRAME_DUMP, num_bytes)
buff = __serial.read(num_bytes)
if size == 1: # Grayscale
@ -113,7 +131,7 @@ def read_state():
if (buff.size != (w*h*3)):
raise ValueError(f"Unexpected frame size. Expected: {w*h*3} received: {buff.size}")
return w, h, buff.reshape((h, w, 3)), num_bytes, text, fmt
return w, h, buff.reshape((h, w, 3)), num_bytes, text, fmt, profile
def fb_dump():
@ -129,7 +147,7 @@ def fb_dump():
num_bytes = size[0]*size[1]*size[2]
# read fb data
__serial.write(struct.pack("<BBI", __USBDBG_CMD, __USBDBG_FRAME_DUMP, num_bytes))
write_pack("<BBI", __USBDBG_CMD, __USBDBG_FRAME_DUMP, num_bytes)
buff = __serial.read(num_bytes)
if size[2] == 1: # Grayscale
@ -153,72 +171,119 @@ def fb_dump():
return (size[0], size[1], buff.reshape((size[1], size[0], 3)))
def read_profile():
records = []
# Read and unpack profiling data size
write_pack("<BBI", __USBDBG_CMD, __USBDBG_PROFILE_SIZE, 12)
record_count, record_size, event_count = read_unpack("<III")
if record_count:
offset = 0
record_format = f"<5I2Q{event_count}QI"
profile_size = record_count * record_size
# Read profiling data
write_pack("<BBI", __USBDBG_CMD, __USBDBG_PROFILE_DUMP, profile_size)
profile_data = __serial.read(profile_size)
for i in range(record_count):
# Unpack the record
profile = struct.unpack(record_format, profile_data[offset:offset + record_size])
# Parse the profile data
records.append({
'address': profile[0],
'caller': profile[1],
'call_count': profile[2],
'min_ticks': profile[3],
'max_ticks': profile[4],
'total_ticks': profile[5],
'total_cycles': profile[6],
'events': profile[7:7 + event_count] if event_count > 0 else []
})
offset += record_size
return records
def set_profile_mode(mode):
write_pack("<BBI", __USBDBG_CMD, __USBDBG_PROFILE_MODE, 4)
write_pack("<I", mode)
def set_event_counter(event_num, event_type):
write_pack("<BBI", __USBDBG_CMD, __USBDBG_PROFILE_EVENT, 8)
write_pack("<II", event_num, event_type)
def reset_profiler():
write_pack("<BBI", __USBDBG_CMD, __USBDBG_PROFILE_RESET, 0)
def exec_script(buf):
__serial.write(struct.pack("<BBI", __USBDBG_CMD, __USBDBG_SCRIPT_EXEC, len(buf)))
write_pack("<BBI", __USBDBG_CMD, __USBDBG_SCRIPT_EXEC, len(buf))
__serial.write(buf.encode())
def stop_script():
__serial.write(struct.pack("<BBI", __USBDBG_CMD, __USBDBG_SCRIPT_STOP, 0))
write_pack("<BBI", __USBDBG_CMD, __USBDBG_SCRIPT_STOP, 0)
def script_running():
__serial.write(struct.pack("<BBI", __USBDBG_CMD, __USBDBG_SCRIPT_RUNNING, 4))
return struct.unpack("I", __serial.read(4))[0]
write_pack("<BBI", __USBDBG_CMD, __USBDBG_SCRIPT_RUNNING, 4)
return read_unpack("I")[0]
def save_template(x, y, w, h, path):
buf = struct.pack("IIII", x, y, w, h) + path
__serial.write(struct.pack("<BBI", __USBDBG_CMD, __USBDBG_TEMPLATE_SAVE, len(buf)))
write_pack("<BBI", __USBDBG_CMD, __USBDBG_TEMPLATE_SAVE, len(buf))
__serial.write(buf)
def save_descriptor(x, y, w, h, path):
buf = struct.pack("HHHH", x, y, w, h) + path
__serial.write(struct.pack("<BBI", __USBDBG_CMD, __USBDBG_DESCRIPTOR_SAVE, len(buf)))
write_pack("<BBI", __USBDBG_CMD, __USBDBG_DESCRIPTOR_SAVE, len(buf))
__serial.write(buf)
def set_attr(attr, value):
__serial.write(struct.pack("<BBI", __USBDBG_CMD, __USBDBG_ATTR_WRITE, 8))
__serial.write(struct.pack("<II", attr, value))
write_pack("<BBI", __USBDBG_CMD, __USBDBG_ATTR_WRITE, 8)
write_pack("<II", attr, value)
def get_attr(attr):
__serial.write(struct.pack("<BBIh", __USBDBG_CMD, __USBDBG_ATTR_READ, 1, attr))
write_pack("<BBIh", __USBDBG_CMD, __USBDBG_ATTR_READ, 1, attr)
return __serial.read(1)
def reset():
__serial.write(struct.pack("<BBI", __USBDBG_CMD, __USBDBG_SYS_RESET, 0))
write_pack("<BBI", __USBDBG_CMD, __USBDBG_SYS_RESET, 0)
def reset_to_bl():
__serial.write(struct.pack("<BBI", __USBDBG_CMD, __USBDBG_SYS_RESET_TO_BL, 0))
write_pack("<BBI", __USBDBG_CMD, __USBDBG_SYS_RESET_TO_BL, 0)
def bootloader_start():
__serial.write(struct.pack("<I", __BOOTLDR_START))
return struct.unpack("I", __serial.read(4))[0] == __BOOTLDR_START
write_pack("<I", __BOOTLDR_START)
return read_unpack("I")[0] == __BOOTLDR_START
def bootloader_reset():
__serial.write(struct.pack("<I", __BOOTLDR_RESET))
write_pack("<I", __BOOTLDR_RESET)
def flash_erase(sector):
__serial.write(struct.pack("<II", __BOOTLDR_ERASE, sector))
write_pack("<II", __BOOTLDR_ERASE, sector)
def flash_write(buf):
__serial.write(struct.pack("<I", __BOOTLDR_WRITE) + buf)
write_pack("<I", __BOOTLDR_WRITE) + buf
def tx_buf_len():
__serial.write(struct.pack("<BBI", __USBDBG_CMD, __USBDBG_TX_BUF_LEN, 4))
return struct.unpack("I", __serial.read(4))[0]
write_pack("<BBI", __USBDBG_CMD, __USBDBG_TX_BUF_LEN, 4)
return read_unpack("I")[0]
def tx_buf(bytes):
__serial.write(struct.pack("<BBI", __USBDBG_CMD, __USBDBG_TX_BUF, bytes))
write_pack("<BBI", __USBDBG_CMD, __USBDBG_TX_BUF, bytes)
return __serial.read(bytes)
def fw_version():
__serial.write(struct.pack("<BBI", __USBDBG_CMD, __USBDBG_FW_VERSION, 12))
return struct.unpack("III", __serial.read(12))
write_pack("<BBI", __USBDBG_CMD, __USBDBG_FW_VERSION, 12)
return read_unpack("III")
def enable_fb(enable):
__serial.write(struct.pack("<BBI", __USBDBG_CMD, __USBDBG_FB_ENABLE, 4))
__serial.write(struct.pack("<I", enable))
write_pack("<BBI", __USBDBG_CMD, __USBDBG_FB_ENABLE, 4)
write_pack("<I", enable)
def arch_str():
__serial.write(struct.pack("<BBI", __USBDBG_CMD, __USBDBG_ARCH_STR, 64))
write_pack("<BBI", __USBDBG_CMD, __USBDBG_ARCH_STR, 64)
return __serial.read(64).split(b'\0', 1)[0]
if __name__ == '__main__':

View File

@ -1,8 +1,8 @@
#!/usr/bin/env python2
#!/usr/bin/env python
# This file is part of the OpenMV project.
#
# Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
# Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
# Copyright (c) 2013-2025 Ibrahim Abdelkader <iabdalkader@openmv.io>
# Copyright (c) 2013-2025 Kwabena W. Agyeman <kwagyeman@openmv.io>
#
# This work is licensed under the MIT license, see the file LICENSE for details.
#
@ -39,7 +39,355 @@ while(True):
img.flush()
"""
def pygame_test(port, poll_rate, scale, benchmark):
def addr_to_symbol(symbols, address):
# Binary search for speed
lo, hi = 0, len(symbols) - 1
while lo <= hi:
mid = (lo + hi) // 2
start, end, name = symbols[mid]
if start <= address < end:
return name
elif address < start:
hi = mid - 1
else:
lo = mid + 1
return None
def get_color_by_percentage(percentage, base_color=(220, 220, 220)):
"""
Return a color based on percentage with fine-grained intensity levels.
"""
def clamp(value):
return max(0, min(255, int(value)))
if percentage >= 50:
# Very high - bright red
intensity = min(1.0, (percentage - 50) / 50)
return (255, clamp(120 - 120 * intensity), clamp(120 - 120 * intensity))
elif percentage >= 30:
# High - red-orange
intensity = (percentage - 30) / 20
return (255, clamp(160 + 40 * intensity), clamp(160 - 40 * intensity))
elif percentage >= 20:
# Medium-high - orange
intensity = (percentage - 20) / 10
return (255, clamp(200 + 55 * intensity), clamp(180 - 20 * intensity))
elif percentage >= 15:
# Medium - yellow-orange
intensity = (percentage - 15) / 5
return (255, clamp(220 + 35 * intensity), clamp(180 + 20 * intensity))
elif percentage >= 10:
# Medium-low - yellow
intensity = (percentage - 10) / 5
return (clamp(255 - 75 * intensity), 255, clamp(180 + 75 * intensity))
elif percentage >= 5:
# Low - light green
intensity = (percentage - 5) / 5
return (clamp(180 + 75 * intensity), 255, clamp(180 + 75 * intensity))
elif percentage >= 2:
# Very low - green
intensity = (percentage - 2) / 3
return (clamp(160 + 95 * intensity), clamp(255 - 55 * intensity), clamp(160 + 95 * intensity))
elif percentage >= 1:
# Minimal - light blue-green
intensity = (percentage - 1) / 1
return (clamp(140 + 120 * intensity), clamp(200 + 55 * intensity), clamp(255 - 95 * intensity))
else:
# Zero or negligible - base color
return base_color
def draw_rounded_rect(surface, color, rect, radius=5):
x, y, w, h = rect
if w <= 0 or h <= 0:
return
pygame.draw.rect(surface, color, (x + radius, y, w - 2*radius, h))
pygame.draw.rect(surface, color, (x, y + radius, w, h - 2*radius))
pygame.draw.circle(surface, color, (x + radius, y + radius), radius)
pygame.draw.circle(surface, color, (x + w - radius, y + radius), radius)
pygame.draw.circle(surface, color, (x + radius, y + h - radius), radius)
pygame.draw.circle(surface, color, (x + w - radius, y + h - radius), radius)
def draw_table(overlay_surface, config, title, headers, col_widths):
"""Draw the common table background, title, and header."""
# Draw main table background
table_rect = (0, 0, config['width'], config['height'])
draw_rounded_rect(overlay_surface, config['colors']['bg'], table_rect, int(8 * config['scale_factor']))
pygame.draw.rect(overlay_surface, config['colors']['border'], table_rect, max(1, int(2 * config['scale_factor'])))
# Table title
title_text = config['fonts']['title'].render(title, True, config['colors']['header_text'])
title_rect = title_text.get_rect()
title_x = (config['width'] - title_rect.width) // 2
overlay_surface.blit(title_text, (title_x, int(12 * config['scale_factor'])))
# Header
header_y = int(50 * config['scale_factor'])
header_height = int(40 * config['scale_factor'])
# Draw header background
header_rect = (int(5 * config['scale_factor']), header_y,
config['width'] - int(10 * config['scale_factor']), header_height)
draw_rounded_rect(overlay_surface, config['colors']['header_bg'], header_rect, int(4 * config['scale_factor']))
# Draw header text and separators
current_x = int(10 * config['scale_factor'])
for i, (header, width) in enumerate(zip(headers, col_widths)):
header_surface = config['fonts']['header'].render(header, True, config['colors']['header_text'])
overlay_surface.blit(header_surface, (current_x, header_y + int(6 * config['scale_factor'])))
if i < len(headers) - 1:
sep_x = current_x + width - int(5 * config['scale_factor'])
pygame.draw.line(overlay_surface, config['colors']['border'],
(sep_x, header_y + 2), (sep_x, header_y + header_height - 2), 1)
current_x += width
def draw_event_table(overlay_surface, config, profile_data, profile_mode, symbols):
"""Draw the event counter mode table."""
# Prepare data
num_events = len(profile_data[0]['events']) if profile_data else 0
if not num_events:
sorted_data = sorted(profile_data, key=lambda x: x['address'])
else:
sort_func = lambda x: x['events'][0] // max(1, x['call_count'])
sorted_data = sorted(profile_data, key=sort_func, reverse=True)
headers = ["Function"] + [f"E{i}" for i in range(num_events)]
proportions = [0.30] + [0.70/num_events] * num_events
col_widths = [config['width'] * prop for prop in proportions]
profile_mode = "Exclusive" if profile_mode else "Inclusive"
# Calculate event totals for percentage calculation
event_totals = [0] * num_events
for record in sorted_data:
for i, event_count in enumerate(record['events']):
event_totals[i] += event_count // max(1, record['call_count'])
# Draw table structure
draw_table(overlay_surface, config, f"Event Counters ({profile_mode})", headers, col_widths)
# Draw data rows
row_height = int(30 * config['scale_factor'])
data_start_y = int(50 * config['scale_factor'] + 40 * config['scale_factor'] + 8 * config['scale_factor'])
available_height = config['height'] - data_start_y - int(60 * config['scale_factor'])
visible_rows = min(len(sorted_data), available_height // row_height)
for i in range(visible_rows):
record = sorted_data[i]
row_y = data_start_y + i * row_height
# Draw row background
row_color = config['colors']['row_alt'] if i % 2 == 0 else config['colors']['row_normal']
row_rect = (int(5 * config['scale_factor']), row_y,
config['width'] - int(10 * config['scale_factor']), row_height)
pygame.draw.rect(overlay_surface, row_color, row_rect)
# Function name
name = addr_to_symbol(symbols, record['address']) if symbols else "<no symbols>"
max_name_chars = int(col_widths[0] // (11 * config['scale_factor']))
display_name = name if len(name) <= max_name_chars else name[:max_name_chars - 3] + "..."
row_data = [display_name]
# Event data
for j, event_count in enumerate(record['events']):
event_scale = ""
event_count //= max(1, record['call_count'])
if event_count > 1_000_000_000:
event_count //= 1_000_000_000
event_scale = "B"
elif event_count > 1_000_000:
event_count //= 1_000_000
event_scale = "M"
row_data.append(f"{event_count:,}{event_scale}")
# Determine row color based on sorting key (event 0)
if len(record['events']) > 0 and event_totals[0] > 0:
sort_key_value = record['events'][0] // max(1, record['call_count'])
percentage = (sort_key_value / event_totals[0] * 100)
row_text_color = get_color_by_percentage(percentage, config['colors']['content_text'])
else:
row_text_color = config['colors']['content_text']
# Draw row data with uniform color
current_x = 10
for j, (data, width) in enumerate(zip(row_data, col_widths)):
text_surface = config['fonts']['content'].render(str(data), True, row_text_color)
overlay_surface.blit(text_surface, (current_x, row_y + int(8 * config['scale_factor'])))
if j < len(row_data) - 1:
sep_x = current_x + width - 8
pygame.draw.line(overlay_surface, (60, 70, 85),
(sep_x, row_y), (sep_x, row_y + row_height), 1)
current_x += width
# Draw summary
summary_y = config['height'] - int(50 * config['scale_factor'])
total_functions = len(profile_data)
grand_total = sum(event_totals)
summary_text = (
f"Profiles: {total_functions} | "
f"Events: {num_events} | "
f"Total Events: {grand_total:,}"
)
summary_surface = config['fonts']['summary'].render(summary_text, True, config['colors']['content_text'])
summary_rect = summary_surface.get_rect()
summary_x = (config['width'] - summary_rect.width) // 2
overlay_surface.blit(summary_surface, (summary_x, summary_y))
# Instructions
instruction_str = "Press 'P' to toggle event counter overlay"
instruction_text = config['fonts']['instruction'].render(instruction_str, True, (180, 180, 180))
overlay_surface.blit(instruction_text, (0, summary_y + int(20 * config['scale_factor'])))
def draw_profile_table(overlay_surface, config, profile_data, profile_mode, symbols):
"""Draw the profile mode table."""
# Prepare data
sort_func = lambda x: x['total_ticks']
sorted_data = sorted(profile_data, key=sort_func, reverse=True)
total_ticks_all = sum(record['total_ticks'] for record in profile_data)
profile_mode = "Exclusive" if profile_mode else "Inclusive"
headers = ["Function", "Calls", "Min", "Max", "Total", "Avg", "Cycles", "%"]
proportions = [0.30, 0.08, 0.10, 0.10, 0.13, 0.10, 0.13, 0.05]
col_widths = [config['width'] * prop for prop in proportions]
# Draw table structure
draw_table(overlay_surface, config, f"Performance Profile ({profile_mode})", headers, col_widths)
# Draw data rows
row_height = int(30 * config['scale_factor'])
data_start_y = int(50 * config['scale_factor'] + 40 * config['scale_factor'] + 8 * config['scale_factor'])
available_height = config['height'] - data_start_y - int(60 * config['scale_factor'])
visible_rows = min(len(sorted_data), available_height // row_height)
for i in range(visible_rows):
record = sorted_data[i]
row_y = data_start_y + i * row_height
# Draw row background
row_color = config['colors']['row_alt'] if i % 2 == 0 else config['colors']['row_normal']
row_rect = (int(5 * config['scale_factor']), row_y,
config['width'] - int(10 * config['scale_factor']), row_height)
pygame.draw.rect(overlay_surface, row_color, row_rect)
# Function name
name = addr_to_symbol(symbols, record['address']) if symbols else "<no symbols>"
max_name_chars = int(col_widths[0] // (11 * config['scale_factor']))
display_name = name if len(name) <= max_name_chars else name[:max_name_chars - 3] + "..."
# Calculate values
call_count = record['call_count']
min_ticks = record['min_ticks'] if call_count else 0
max_ticks = record['max_ticks'] if call_count else 0
total_ticks = record['total_ticks']
avg_cycles = record['total_cycles'] // max(1, call_count)
avg_ticks = total_ticks // max(1, call_count)
percentage = (total_ticks / total_ticks_all * 100)
ticks_scale = ""
if total_ticks > 1_000_000_000:
total_ticks //= 1_000_000
ticks_scale = "M"
row_data = [
display_name,
f"{call_count:,}",
f"{min_ticks:,}",
f"{max_ticks:,}",
f"{total_ticks:,}{ticks_scale}",
f"{avg_ticks:,}",
f"{avg_cycles:,}",
f"{percentage:.1f}%"
]
# Determine row color based on percentage
text_color = get_color_by_percentage(percentage, config['colors']['content_text'])
# Draw row data
current_x = int(10 * config['scale_factor'])
for j, (data, width) in enumerate(zip(row_data, col_widths)):
text_surface = config['fonts']['content'].render(str(data), True, text_color)
overlay_surface.blit(text_surface, (current_x, row_y + int(8 * config['scale_factor'])))
if j < len(row_data) - 1:
sep_x = current_x + width - int(8 * config['scale_factor'])
pygame.draw.line(overlay_surface, (60, 70, 85),
(sep_x, row_y), (sep_x, row_y + row_height), 1)
current_x += width
# Draw summary
summary_y = config['height'] - int(50 * config['scale_factor'])
total_calls = sum(record['call_count'] for record in profile_data)
total_cycles = sum(record['total_cycles'] for record in profile_data)
total_ticks_summary = sum(record['total_ticks'] for record in profile_data)
summary_text = (
f"Profiles: {len(profile_data)} | "
f"Total Calls: {total_calls:,} | "
f"Total Ticks: {total_ticks_summary:,} | "
f"Total Cycles: {total_cycles:,}"
)
summary_surface = config['fonts']['summary'].render(summary_text, True, config['colors']['content_text'])
summary_rect = summary_surface.get_rect()
summary_x = (config['width'] - summary_rect.width) // 2
overlay_surface.blit(summary_surface, (summary_x, summary_y))
# Instructions
instruction_str = "Press 'P' to toggle event counter overlay"
instruction_text = config['fonts']['instruction'].render(instruction_str, True, (180, 180, 180))
overlay_surface.blit(instruction_text, (0, summary_y + int(20 * config['scale_factor'])))
def draw_profile_overlay(screen, screen_width, screen_height, profile_data,
profile_mode, profile_type, scale, symbols, alpha=250):
"""Main entry point for drawing the profile overlay."""
# Calculate dimensions and create surface
base_width, base_height = 800, 800
screen_width *= scale
screen_height *= scale
scale_factor = min(screen_width / base_width, screen_height / base_height)
overlay_surface = pygame.Surface((screen_width, screen_height), pygame.SRCALPHA)
overlay_surface.set_alpha(alpha)
# Setup common configuration
config = {
'width': screen_width,
'height': screen_height,
'scale_factor': scale_factor,
'colors': {
'bg': (40, 50, 65),
'border': (70, 80, 100),
'header_bg': (60, 80, 120),
'header_text': (255, 255, 255),
'content_text': (220, 220, 220),
'row_alt': (35, 45, 60),
'row_normal': (45, 55, 70)
},
'fonts': {
'title': pygame.font.SysFont("arial", int(28 * scale_factor), bold=True),
'header': pygame.font.SysFont("monospace", int(20 * scale_factor), bold=True),
'content': pygame.font.SysFont("monospace", int(18 * scale_factor)),
'summary': pygame.font.SysFont("arial", int(20 * scale_factor)),
'instruction': pygame.font.SysFont("arial", int(22 * scale_factor))
}
}
# Draw based on mode
if profile_type == 1:
draw_profile_table(overlay_surface, config, profile_data, profile_mode, symbols)
elif profile_type == 2:
draw_event_table(overlay_surface, config, profile_data, profile_mode, symbols)
screen.blit(overlay_surface, (0, 0))
def pygame_test(port, script, poll_rate, scale, benchmark, symbols):
# init pygame
pygame.init()
pyopenmv.disconnect()
@ -67,27 +415,63 @@ def pygame_test(port, poll_rate, scale, benchmark):
pyopenmv.set_timeout(1*2) # SD Cards can cause big hicups.
pyopenmv.stop_script()
pyopenmv.enable_fb(True)
pyopenmv.exec_script(bench_script if benchmark else test_script)
pyopenmv.reset_profiler()
# Configure some event counters.
pyopenmv.set_event_counter(0, 0x0039)
pyopenmv.set_event_counter(1, 0x0023)
pyopenmv.set_event_counter(2, 0x0024)
pyopenmv.set_event_counter(3, 0x0001)
pyopenmv.set_event_counter(4, 0x0003)
pyopenmv.set_event_counter(5, 0xC102)
pyopenmv.set_event_counter(6, 0x02CC)
pyopenmv.set_event_counter(7, 0xC303)
pyopenmv.exec_script(script)
# init screen
running = True
screen = None
# Profiling control
profile_type = 0
profile_mode = 0
profile_data = []
last_profile_read = 0
clock = pygame.time.Clock()
fps_clock = pygame.time.Clock()
font = pygame.font.SysFont("monospace", 30)
if benchmark:
if not benchmark:
pygame.display.set_caption("OpenMV Camera")
else:
pygame.display.set_caption("OpenMV Camera (Benchmark)")
screen = pygame.display.set_mode((640, 120), pygame.DOUBLEBUF, 32)
try:
while running:
# Read state
w, h, data, size, text, fmt = pyopenmv.read_state()
w, h, data, size, text, fmt, profiling = pyopenmv.read_state()
if text is not None:
print(text, end="")
# Read profiling data (maximum 10Hz)
if profiling and profile_type:
current_time = time.time()
if current_time - last_profile_read >= 0.1: # 10Hz = 0.1s interval
tmp_data = pyopenmv.read_profile()
if tmp_data:
profile_data = tmp_data
last_profile_read = current_time
#if profile_data:
# for r in profile_data:
# print(f"Func: {addr_to_symbol(symbols, r['address'])}@0x{r['address']:x} ")
# print(f"Call: {addr_to_symbol(symbols, r['caller'])}@0x{r['caller']:x}")
# sys.exit(0)
if data is not None:
fps = fps_clock.get_fps()
@ -104,7 +488,14 @@ def pygame_test(port, poll_rate, scale, benchmark):
screen.fill((0, 0, 0))
else:
screen.blit(image, (0, 0))
screen.blit(font.render(f"{fps:.2f} FPS {fps * size / 1024**2:.2f} MB/s {w}x{h} {fmt}", 5, (255, 0, 0)), (0, 0))
# FPS text
fps_text = f"{fps:.2f} FPS {fps * size / 1024**2:.2f} MB/s {w}x{h} {fmt}"
screen.blit(font.render(fps_text, 5, (255, 0, 0)), (0, 0))
# Draw profile overlay if enabled
if profile_type and profile_data:
draw_profile_overlay(screen, w, h, profile_data, profile_mode, profile_type, scale, symbols)
# update display
pygame.display.flip()
@ -116,10 +507,18 @@ def pygame_test(port, poll_rate, scale, benchmark):
elif event.type == pygame.KEYDOWN:
if event.key == pygame.K_ESCAPE:
running = False
if event.key == pygame.K_c:
elif event.key == pygame.K_c:
pygame.image.save(image, "capture.png")
elif event.key == pygame.K_p:
profile_type = (profile_type + 1) % 3
elif event.key == pygame.K_m:
profile_mode = not profile_mode
pyopenmv.set_profile_mode(profile_mode)
elif event.key == pygame.K_r:
pyopenmv.reset_profiler()
clock.tick(1000//poll_rate)
except KeyboardInterrupt:
pass
@ -128,9 +527,38 @@ def pygame_test(port, poll_rate, scale, benchmark):
if __name__ == '__main__':
parser = argparse.ArgumentParser(description='pyopenmv module')
parser.add_argument('--port', action = 'store', help='OpenMV camera port (default /dev/ttyACM0)', default='/dev/ttyACM0', )
parser.add_argument('--port', action = 'store', help='Serial port (dev/ttyACM0)', default='/dev/ttyACM0')
parser.add_argument("--script", action = "store", default=None, help = "Script file")
parser.add_argument('--poll', action = 'store', help='Poll rate (default 4ms)', default=4, type=int)
parser.add_argument('--bench', action = 'store_true', help='Run throughput benchmark.', default=False)
parser.add_argument('--scale', action = 'store', help='Set frame scaling factor (default 4x).', default=4, type=int)
parser.add_argument('--firmware', action = 'store', help='Firmware for address to symbol', default=None)
args = parser.parse_args()
pygame_test(args.port, args.poll, args.scale, args.bench)
if args.script is not None:
with open(args.script) as f:
args.script = f.read()
else:
args.script = bench_script if args.bench else test_script
symbols = []
if args.firmware:
from elftools.elf.elffile import ELFFile
with open(args.firmware, 'rb') as f:
elf = ELFFile(f)
symtab = elf.get_section_by_name('.symtab')
if not symtab:
raise ValueError("No symbol table found in ELF.")
for sym in symtab.iter_symbols():
addr = sym['st_value']
size = sym['st_size']
name = sym.name
if name and size > 0: # ignore empty symbols
symbols.append((addr, addr + size, name))
symbols.sort()
pygame_test(args.port, args.script, args.poll, args.scale, args.bench, symbols)