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{
"cells": [
{
"cell_type": "code",
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"execution_count": 1,
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"metadata": {
"pycharm": {
"name": "#%%\n"
}
},
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"outputs": [],
"source": [
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"import glob\n",
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"import json\n",
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"import os\n",
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"import pickle\n",
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"import re\n",
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"import sys\n",
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"\n",
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"import numpy as np\n",
"import pandas as pd\n",
"from matplotlib import pyplot as plt\n",
"\n",
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"from misc.utils import ProgressPrinter, cached, parse_as\n",
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"\n",
"%load_ext pyinstrument\n",
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"%matplotlib inline"
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]
},
{
"cell_type": "code",
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"execution_count": 43,
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"metadata": {
"pycharm": {
"name": "#%%\n"
}
},
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"outputs": [],
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"source": [
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"##################################################\n",
"# User Settings\n",
"##################################################\n",
"# Change these to influence the execution of the\n",
"# notebook.\n",
"# You can override these from the command line\n",
"# by defining environment variables with the\n",
"# name of the constants below, prefixed with\n",
"# \"ANA_NB_\".\n",
"# For example, the environment variable\n",
"# \"ANA_NB_TR_PATH\" will override the \"TR_PATH\"\n",
"# setting below.\n",
"##################################################\n",
"\n",
"# The path to the build folder of a ROS2 workspace that contains the\n",
"# tracetools_read and tracetools_analysis folders.\n",
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"TRACING_WS_BUILD_PATH = \"../src/build\"\n",
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"\n",
"# Path to trace directory (e.g. ~/.ros/my-trace/ust) or to a converted trace file.\n",
"# Using the path \"/ust\" at the end is optional but greatly reduces processing time\n",
"# if kernel traces are also present.\n",
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"TR_PATH = \"../sa-tracing-results/140922/01/ust\"\n",
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"\n",
"# Path to the folder all artifacts from this notebook are saved to.\n",
"# This entails plots as well as data tables.\n",
"OUT_PATH = \"out/\"\n",
"\n",
"# Whether to annotate topics/publications with bandwidth/message size\n",
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"BW_ENABLED = False\n",
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"# Path to a results folder as output by ma-hw-perf-tools/messages/record.bash\n",
"# Used to annotate message sizes in E2E latency calculations\n",
"BW_PATH = \"../ma-hw-perf-tools/data/results\"\n",
"\n",
"# Whether to use dependencies extracted by the Clang-tools to supplement\n",
"# automatic node-internal data flow annotations.\n",
"# If in doubt, set to False.\n",
"CL_ENABLED = False\n",
"# Path to the output directory of the ROS2 dependency checker.\n",
"# Will only be used if CL_ENABLED is True.\n",
"CL_PATH = \"~/Projects/llvm-project/clang-tools-extra/ros2-internal-dependency-checker/output\"\n",
"\n",
"# Whether to compute data flow graphs.\n",
"# If you are only interested in E2E latencies, set this to False\n",
"DFG_ENABLED = False\n",
"# Whether to plot data flow graphs (ignored if DFG_ENABLED is False)\n",
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"DFG_PLOT = False\n",
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"\n",
"# The maximum node namespace hierarchy level to be plotted.\n",
"# Top-level (1): e.g. /sensing, /control, etc.\n",
"# Level 3: e.g. /sensing/lidar/pointcloud_processor\n",
"DFG_MAX_HIER_LEVEL = 100\n",
"\n",
"# RegEx pattern for nodes that shall be marked as system inputs\n",
"# These will be plotted with a start arrow as known from automata diagrams\n",
"DFG_INPUT_NODE_PATTERNS = [r\"^/sensing\"]\n",
"# RegEx pattern for nodes that shall be marked as system outputs\n",
"# These will be plotted with a double border\n",
"DFG_OUTPUT_NODE_PATTERNS = [r\"^/awapi\", r\"^/control/external_cmd_converter\"]\n",
"# RegEx for nodes which shall not be plotted in the DFG\n",
"DFG_EXCL_NODE_PATTERNS = [r\"^/rviz2\", r\"transform_listener_impl\"]\n",
"\n",
"# Whether to compute E2E latencies.\n",
"E2E_ENABLED = True\n",
"# Whether to plot end-to-end latency information (ignored if E2E_ENABLED is False)\n",
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"E2E_PLOT = False\n",
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"# The index of the output message that shall be used in plots that visualize a specific\n",
"# message dependency tree. This index has to be 0 <= n < #output messages\n",
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"E2E_PLOT_TIMESTAMP = 200\n",
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"# E2E latency threshold. Every E2E latency higher than this is discarded.\n",
"# Set this as low as comfortably possible to speed up calculations.\n",
"# WARNING: If you set this too low (i.e. to E2E latencies that plausibly can happen)\n",
"# your results will be wrong)\n",
"E2E_TIME_LIMIT_S = 2\n",
"\n",
"# All topics containing any of these RegEx patterns are considered output topics in E2E latency calculations\n",
"# E.g. r\"^/control/\" will cover all control topics\n",
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"E2E_OUTPUT_TOPIC_PATTERNS = [r\"^/control/command/control_cmd\"]\n",
"#E2E_OUTPUT_TOPIC_PATTERNS = [r\"^/system/emergency/control_cmd\"]\n",
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"# All topics containing any of these RegEx patterns are considered input topics in E2E latency calculations\n",
"# E.g. r\"^/sensing/\" will cover all sensing topics\n",
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"E2E_INPUT_TOPIC_PATTERNS = [\"/vehicle/status/\", \"/perception/\"]\n",
"#E2E_INPUT_TOPIC_PATTERNS = [\"/vehicle/\", \"/sensing/\", \"/localization/\", \"planning\"]\n",
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"\n",
"\n",
"# This code overrides the above constants with environment variables, do not edit.\n",
"for env_key, env_value in os.environ.items():\n",
" if env_key.startswith(\"ANA_NB_\"):\n",
" key = env_key.removeprefix(\"ANA_NB_\")\n",
" if key not in globals().keys():\n",
" continue\n",
" value = parse_as(type(globals()[key]), env_value)\n",
" globals()[key] = value\n",
"\n",
"# Convert input paths to absolute paths\n",
"def _expand_path(path):\n",
" return os.path.realpath(os.path.expandvars(os.path.expanduser(path)))\n",
"\n",
"TRACING_WS_BUILD_PATH = _expand_path(TRACING_WS_BUILD_PATH)\n",
"TR_PATH = _expand_path(TR_PATH)\n",
"OUT_PATH = _expand_path(OUT_PATH)\n",
"BW_PATH = _expand_path(BW_PATH)\n",
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"CL_PATH = _expand_path(CL_PATH)\n",
"\n",
"os.makedirs(OUT_PATH, exist_ok=True)"
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]
},
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{
"cell_type": "code",
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"execution_count": 3,
"metadata": {
"pycharm": {
"name": "#%%\n"
}
},
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"outputs": [],
"source": [
"from clang_interop.cl_types import ClContext\n",
"from clang_interop.process_clang_output import process_clang_output\n",
"\n",
"sys.path.append(os.path.join(TRACING_WS_BUILD_PATH, \"tracetools_read/\"))\n",
"sys.path.append(os.path.join(TRACING_WS_BUILD_PATH, \"tracetools_analysis/\"))\n",
"from tracetools_read.trace import *\n",
"from tracetools_analysis.loading import load_file\n",
"from tracetools_analysis.processor.ros2 import Ros2Handler\n",
"from tracetools_analysis.utils.ros2 import Ros2DataModelUtil\n",
"\n",
"from tracing_interop.tr_types import TrTimer, TrTopic, TrPublisher, TrPublishInstance, TrCallbackInstance, \\\n",
"TrCallbackSymbol, TrCallbackObject, TrSubscriptionObject, TrContext"
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]
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},
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{
"cell_type": "markdown",
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"metadata": {
"pycharm": {
"name": "#%% md\n"
}
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},
"source": [
"# Organize Trace Data"
]
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},
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{
"cell_type": "code",
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"execution_count": 4,
"metadata": {
"pycharm": {
"name": "#%%\n"
}
},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"[CACHE] Found up-to-date cache entry (cache/tr_objects_507fec94db.pkl) for tr_objects, loading.\n",
"Done.\n"
]
}
],
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"source": [
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"def _load_traces():\n",
" file = load_file(TR_PATH)\n",
" handler = Ros2Handler.process(file)\n",
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" return TrContext(handler)\n",
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"\n",
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"\n",
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"_tracing_context = cached(\"tr_objects\", _load_traces, [TR_PATH])\n",
"_tr_globals = [\"nodes\", \"publishers\", \"subscriptions\", \"timers\", \"timer_node_links\", \"subscription_objects\",\n",
" \"callback_objects\", \"callback_symbols\", \"publish_instances\", \"callback_instances\", \"topics\"]\n",
"\n",
"# Help the IDE recognize those identifiers\n",
"nodes = publishers = subscriptions = timers = timer_node_links = subscription_objects = callback_objects = callback_symbols = publish_instances = callback_instances = topics = None\n",
"\n",
"for name in _tr_globals:\n",
" globals()[name] = getattr(_tracing_context, name)\n",
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"\n",
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"print(\"Done.\")"
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]
},
{
"cell_type": "code",
"execution_count": 42,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"/control/external_cmd_selector/current_selector_mode\n",
"/system/emergency/control_cmd\n",
"/control/command/hazard_lights_cmd\n",
"/control/command/turn_indicators_cmd\n",
"/api/external/set/command/local/control\n",
"/control/trajectory_follower/lane_departure_checker_node/debug/deviation/yaw\n",
"/control/command/control_cmd\n",
"/api/iv_msgs/vehicle/status/control_mode\n",
"/control/trajectory_follower/control_cmd\n",
"/api/external/set/command/remote/control\n",
"/control/trajectory_follower/lateral/diagnostic\n",
"/control/trajectory_follower/lane_departure_checker_node/debug/deviation/yaw_deg\n",
"/control/trajectory_follower/lane_departure_checker_node/debug/deviation/lateral\n",
"/control/vehicle_cmd_gate/operation_mode\n",
"/control/trajectory_follower/longitudinal/slope_angle\n",
"/vehicle/status/control_mode\n",
"/external/selected/external_control_cmd\n",
"/control/is_autonomous_available\n",
"/control/trajectory_follower/lane_departure_checker_node/debug/processing_time_ms\n",
"/control/operation_mode\n",
"/control/trajectory_follower/lane_departure_checker_node/debug/marker_array\n",
"/external/selected/control_cmd\n",
"/control/operation_mode_transition_manager/debug_info\n",
"/control/trajectory_follower/lateral/predicted_trajectory\n",
"/control/shift_decider/gear_cmd\n",
"/control/command/emergency_cmd\n",
"/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control/debug_values\n",
"/control/current_gate_mode\n",
"/api/external/get/command/selected/control\n",
"/control/command/gear_cmd\n",
"/control/gate_mode_cmd\n",
"/control/trajectory_follower/longitudinal/diagnostic\n"
]
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}
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],
"source": [
"for t in topics:\n",
" if \"control\" in t.name:\n",
" print(t.name)"
]
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},
{
"cell_type": "markdown",
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"metadata": {
"pycharm": {
"name": "#%% md\n"
}
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},
"source": [
"# E2E Latency Calculation"
]
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},
{
"cell_type": "code",
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"execution_count": 5,
"metadata": {
"pycharm": {
"name": "#%%\n"
}
},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"[CACHE] Found up-to-date cache entry (cache/lat_graph_507fec94db.pkl) for lat_graph, loading.\n"
]
}
],
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"source": [
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"from latency_graph import latency_graph as lg\n",
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"\n",
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"def _make_latency_graph():\n",
" return lg.LatencyGraph(_tracing_context)\n",
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"\n",
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"lat_graph = cached(\"lat_graph\", _make_latency_graph, [TR_PATH])"
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]
},
{
"cell_type": "code",
"execution_count": 6,
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"metadata": {
"pycharm": {
"name": "#%%\n"
}
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},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
" Processing INPUT: 1\n",
" Processing OUTPUT: 1\n",
" Processing simulation: 0\n",
" Processing openscenario_visualizer: 2\n",
" Processing simple_sensor_simulator: 1\n",
" Processing openscenario_interpreter: 19\n",
" Processing concealer: 22\n",
" Processing system: 0\n",
" Processing system_monitor: 0\n",
" Processing system_monitor: 0\n",
" Processing system_monitor_container: 1\n",
" Processing cpu_monitor: 2\n",
" Processing hdd_monitor: 3\n",
" Processing mem_monitor: 2\n",
" Processing net_monitor: 2\n",
" Processing ntp_monitor: 2\n",
" Processing process_monitor: 3\n",
" Processing gpu_monitor: 2\n",
" Processing emergency_handler: 7\n",
" Processing system_error_monitor: 6\n",
" Processing ad_service_state_monitor: 9\n",
" Processing transform_listener_impl_5640698e3b70: 3\n",
" Processing map: 0\n",
" Processing map_container: 1\n",
" Processing lanelet2_map_loader: 1\n",
" Processing lanelet2_map_visualization: 2\n",
" Processing pointcloud_map_loader: 1\n",
" Processing vector_map_tf_generator: 2\n",
" Processing planning: 0\n",
" Processing mission_planning: 0\n",
" Processing mission_planning_container: 1\n",
" Processing mission_planner: 4\n",
" Processing transform_listener_impl_55f81237fb00: 3\n",
" Processing goal_pose_visualizer: 2\n",
" Processing scenario_planning: 0\n",
" Processing lane_driving: 0\n",
" Processing behavior_planning: 0\n",
" Processing rtc_auto_approver: 13\n",
" Processing behavior_planning_container: 1\n",
" Processing behavior_path_planner: 9\n",
" Processing transform_listener_impl_7ff5980c97d0: 3\n",
" Processing behavior_velocity_planner: 13\n",
" Processing transform_listener_impl_7ff5705c51f8: 3\n",
" Processing motion_planning: 0\n",
" Processing motion_planning_container: 1\n",
" Processing obstacle_avoidance_planner: 5\n",
" Processing transform_listener_impl_7fbc48096dc0: 3\n",
" Processing obstacle_stop_planner: 6\n",
" Processing transform_listener_impl_7fbc54027818: 3\n",
" Processing surround_obstacle_checker: 6\n",
" Processing transform_listener_impl_7fbc6000af58: 3\n",
" Processing scenario_selector: 8\n",
" Processing external_velocity_limit_selector: 4\n",
" Processing transform_listener_impl_55de7185f3b8: 3\n",
" Processing parking: 0\n",
" Processing parking_container: 1\n",
" Processing costmap_generator: 6\n",
" Processing transform_listener_impl_559279168428: 3\n",
" Processing freespace_planner: 6\n",
" Processing transform_listener_impl_5592795af670: 3\n",
" Processing motion_velocity_smoother: 4\n",
" Processing transform_listener_impl_5625d002bd30: 3\n",
" Processing planning_diagnostics: 0\n",
" Processing planning_error_monitor: 4\n",
" Processing aggregator_node: 3\n",
" Processing robot_state_publisher: 2\n",
" Processing control: 0\n",
" Processing control_container: 1\n",
" Processing trajectory_follower: 0\n",
" Processing controller_node_exe: 5\n",
" Processing lane_departure_checker_node: 8\n",
" Processing transform_listener_impl_56044e5ef540: 3\n",
" Processing transform_listener_impl_56044e64ced0: 3\n",
" Processing external_cmd_selector: 11\n",
" Processing external_cmd_converter: 8\n",
" Processing transform_listener_impl_56044e7e8a60: 3\n",
" Processing shift_decider: 3\n",
" Processing vehicle_cmd_gate: 21\n",
" Processing operation_mode_transition_manager: 7\n",
" Processing awapi: 0\n",
" Processing awapi_relay_container: 1\n",
" Processing awapi_awiv_adapter_node: 28\n",
" Processing transform_listener_impl_555fb141cf58: 3\n",
" Processing route_relay: 2\n",
" Processing predict_object_relay: 2\n",
" Processing nearest_traffic_signal_relay: 2\n",
" Processing ready_module_relay: 2\n",
" Processing force_available_relay: 2\n",
" Processing running_modules_relay: 2\n",
" Processing autoware_engage_relay: 2\n",
" Processing vehicle_engage_relay: 2\n",
" Processing put_route_relay: 2\n",
" Processing put_goal_relay: 2\n",
" Processing lane_change_approval_relay: 2\n",
" Processing force_lane_change_relay: 2\n",
" Processing external_approval_relay: 2\n",
" Processing force_approval_relay: 2\n",
" Processing obstacle_avoid_approval_relay: 2\n",
" Processing traffic_signal_relay: 2\n",
" Processing overwrite_traffic_signals_relay: 2\n",
" Processing speed_exceeded_relay: 2\n",
" Processing crosswalk_status_relay: 2\n",
" Processing intersection_status_relay: 2\n",
" Processing expand_stop_range_relay: 2\n",
" Processing pose_initialization_request_relay: 2\n",
" Processing autoware_api: 0\n",
" Processing external: 0\n",
" Processing autoware_iv_adaptor: 1\n",
" Processing cpu_usage: 2\n",
" Processing start: 2\n",
" Processing diagnostics: 2\n",
" Processing door: 2\n",
" Processing emergency: 2\n",
" Processing engage: 3\n",
" Processing fail_safe_state: 2\n",
" Processing initial_pose: 1\n",
" Processing map: 2\n",
" Processing operator: 3\n",
" Processing metadata_packages: 1\n",
" Processing route: 3\n",
" Processing service: 1\n",
" Processing vehicle_status: 8\n",
" Processing velocity: 1\n",
" Processing version: 1\n",
" Processing internal: 0\n",
" Processing traffic_signals: 2\n",
" Processing autoware_iv_adaptor: 1\n",
" Processing intersection_states: 2\n",
" Processing initial_pose_2d: 2\n",
" Processing crosswalk_states: 2\n",
" Processing initial_pose: 1\n",
" Processing iv_msgs: 6\n",
" Processing operator: 5\n",
" Processing route: 2\n",
" Processing velocity: 2\n",
" Processing initial_pose_2d: 2\n",
" Processing fault_injection: 3\n",
" Processing perception: 0\n",
" Processing object_recognition: 0\n",
" Processing tracking: 0\n",
" Processing multi_object_tracker: 2\n",
" Processing transform_listener_impl_55f0d0d59108: 3\n",
" Processing prediction: 0\n",
" Processing map_based_prediction: 3\n",
" Processing transform_listener_impl_560d413e4c40: 3\n",
" Processing rviz2: 56\n",
" Processing rosbag2_player: 1\n",
" Processing transform_listener_impl_563ba1d22770: 2\n",
" Processing transform_listener_impl_563ba1d857c0: 7\n"
]
},
{
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"<text text-anchor=\"start\" x=\"11130\" y=\"-11511.8\" font-family=\"Times,serif\" font-size=\"14.00\">void(rviz_plugins::MaxVelocityDisplay)(tier4_planning_msgs::msg::VelocityLimit)</text>\n",
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"<text text-anchor=\"start\" x=\"10956\" y=\"-11355.8\" font-family=\"Times,serif\" font-size=\"14.00\">void(rviz_common::RosTopicDisplay<visualization_msgs::msg::MarkerArray>subscribe())(visualization_msgs::msg::MarkerArray)</text>\n",
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"<text text-anchor=\"start\" x=\"10689\" y=\"-11199.8\" font-family=\"Times,serif\" font-size=\"14.00\">void(message_filters::Subscriber<geometry_msgs::msg::PoseArray>subscribe(rclcpp::Node,std::__cxx11::basic_string<char,std::char_traits<char>,>,rmw_qos_profile_t))(geometry_msgs::msg::PoseArray)</text>\n",
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"<text text-anchor=\"start\" x=\"10832\" y=\"-11121.8\" font-family=\"Times,serif\" font-size=\"14.00\">void(rviz_common::RosTopicDisplay<autoware_auto_perception_msgs::msg::DetectedObjects>subscribe())(autoware_auto_perception_msgs::msg::DetectedObjects)</text>\n",
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"<text text-anchor=\"start\" x=\"8908\" y=\"-5036.8\" font-family=\"Times,serif\" font-size=\"14.00\">void(tf2_ros::TransformListener)(tf2_msgs::msg::TFMessage,bool)</text>\n",
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],
"text/plain": [
"<graphviz.graphs.Digraph at 0x7f7bf506c0d0>"
]
},
"execution_count": 6,
"metadata": {},
"output_type": "execute_result"
}
],
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"source": [
2022-09-12 19:24:26 +02:00
"%%skip_if_false DFG_ENABLED\n",
"%%skip_if_false DFG_PLOT\n",
"\n",
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"from matching.subscriptions import sanitize\n",
"from typing import Iterable, Sized\n",
"from tracing_interop.tr_types import TrNode, TrCallbackObject, TrCallbackSymbol, TrSubscriptionObject\n",
2022-07-20 16:12:43 +02:00
"\n",
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"#################################################\n",
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"# Plot DFG\n",
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"#################################################\n",
"\n",
2022-08-09 18:36:53 +02:00
"# Compare with: https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/node-diagram/\n",
"node_colors = {\n",
" \"sensing\": {\"fill\": \"#e1d5e7\", \"stroke\": \"#9673a6\"},\n",
" \"localization\": {\"fill\": \"#dae8fc\", \"stroke\": \"#6c8ebf\"},\n",
" \"perception\": {\"fill\": \"#d5e8d4\", \"stroke\": \"#82b366\"},\n",
" \"planning\": {\"fill\": \"#fff2cc\", \"stroke\": \"#d6b656\"},\n",
" \"control\": {\"fill\": \"#ffe6cc\", \"stroke\": \"#d79b00\"},\n",
" \"system\": {\"fill\": \"#f8cecc\", \"stroke\": \"#b85450\"},\n",
" \"vehicle_interface\": {\"fill\": \"#b0e3e6\", \"stroke\": \"#0e8088\"},\n",
" None: {\"fill\": \"#f5f5f5\", \"stroke\": \"#666666\"}\n",
"}\n",
"\n",
"node_namespace_mapping = {\n",
" 'perception': 'perception',\n",
" 'sensing': 'sensing',\n",
" 'planning': 'planning',\n",
" 'control': 'control',\n",
" 'awapi': None,\n",
" 'autoware_api': None,\n",
" 'map': None,\n",
" 'system': 'system',\n",
" 'localization': 'localization',\n",
" 'robot_state_publisher': None,\n",
" 'aggregator_node': None,\n",
" 'pointcloud_container': 'sensing',\n",
"}\n",
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"\n",
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"import graphviz as gv\n",
2022-07-20 13:35:06 +02:00
"\n",
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"g = gv.Digraph('G', filename=\"latency_graph.gv\",\n",
" node_attr={'shape': 'plain'},\n",
" graph_attr={'pack': '1'})\n",
"g.graph_attr['rankdir'] = 'LR'\n",
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"\n",
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"def plot_hierarchy(gv_parent, lg_node: lg.LGHierarchyLevel, **subgraph_kwargs):\n",
" if lg_node.name == \"[NONE]\":\n",
" return\n",
"\n",
" print(f\"{' ' * lg_node.full_name.count('/')}Processing {lg_node.name}: {len(lg_node.callbacks)}\")\n",
" with gv_parent.subgraph(name=f\"cluster_{lg_node.full_name.replace('/', '__')}\", **subgraph_kwargs) as c:\n",
" c.attr(label=lg_node.name)\n",
" for cb in lg_node.callbacks:\n",
" if isinstance(cb, lg.LGTrCallback):\n",
" tr_cb = cb.cb\n",
" try:\n",
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" sym = _tracing_context.callback_symbols.by_id.get(tr_cb.callback_object)\n",
" pretty_sym = repr(sanitize(sym.symbol))\n",
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" except KeyError:\n",
" pretty_sym = cb.name\n",
" except TypeError:\n",
" pretty_sym = cb.name\n",
" else:\n",
" pretty_sym = cb.name\n",
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"\n",
" pretty_sym = pretty_sym.replace(\"&\", \"&\").replace(\"<\", \"<\").replace(\">\", \">\")\n",
"\n",
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" c.node(cb.id(),\n",
" f'<<table BORDER=\"0\" CELLBORDER=\"1\" CELLSPACING=\"0\"><tr><td port=\"in\"></td><td>{pretty_sym}</td><td port=\"out\"></td></tr></table>>')\n",
"\n",
" for ch in lg_node.children:\n",
" plot_hierarchy(c, ch, **subgraph_kwargs)\n",
"\n",
"def plot_lg(graph: lg.LatencyGraph):\n",
" for top_level_node in graph.top_node.children:\n",
" colors = node_colors[node_namespace_mapping.get(top_level_node.name)]\n",
" plot_hierarchy(g, top_level_node, graph_attr={'bgcolor': colors[\"fill\"], 'pencolor': colors[\"stroke\"]})\n",
"\n",
" for edge in graph.edges:\n",
" g.edge(f\"{edge.start.id()}:out\", f\"{edge.end.id()}:in\")\n",
"\n",
"plot_lg(lat_graph)\n",
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"\n",
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"g.save(\"latency_graph.gv\")\n",
"g.render(\"latency_graph.svg\")\n",
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"\n",
2022-08-09 18:36:53 +02:00
"g"
2022-09-14 18:27:41 +02:00
]
},
{
"cell_type": "code",
"execution_count": 7,
2022-07-20 13:35:06 +02:00
"metadata": {
"pycharm": {
"name": "#%%\n"
}
2022-09-14 18:27:41 +02:00
},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"\n",
"/control/external_cmd_converter, /awapi/awapi_relay_container, /awapi/awapi_awiv_adapter_node, /awapi/route_relay, /awapi/predict_object_relay, /awapi/nearest_traffic_signal_relay, /awapi/ready_module_relay, /awapi/force_available_relay, /awapi/running_modules_relay, /awapi/autoware_engage_relay, /awapi/vehicle_engage_relay, /awapi/put_route_relay, /awapi/put_goal_relay, /awapi/lane_change_approval_relay, /awapi/force_lane_change_relay, /awapi/external_approval_relay, /awapi/force_approval_relay, /awapi/obstacle_avoid_approval_relay, /awapi/traffic_signal_relay, /awapi/overwrite_traffic_signals_relay, /awapi/speed_exceeded_relay, /awapi/crosswalk_status_relay, /awapi/intersection_status_relay, /awapi/expand_stop_range_relay, /awapi/pose_initialization_request_relay\n",
"/INPUT, /OUTPUT, /[NONE], /simulation/openscenario_visualizer, /simulation/simple_sensor_simulator, /simulation/openscenario_interpreter, /simulation/concealer, /system/system_monitor/system_monitor/system_monitor_container, /system/system_monitor/cpu_monitor, /system/system_monitor/hdd_monitor, /system/system_monitor/mem_monitor, /system/system_monitor/net_monitor, /system/system_monitor/ntp_monitor, /system/system_monitor/process_monitor, /system/system_monitor/gpu_monitor, /system/emergency_handler, /system/system_error_monitor, /system/ad_service_state_monitor, /map/map_container, /map/lanelet2_map_loader, /map/lanelet2_map_visualization, /map/pointcloud_map_loader, /map/vector_map_tf_generator, /planning/mission_planning/mission_planning_container, /planning/mission_planning/mission_planner, /planning/mission_planning/goal_pose_visualizer, /planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_approver, /planning/scenario_planning/lane_driving/behavior_planning/behavior_planning_container, /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner, /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner, /planning/scenario_planning/lane_driving/motion_planning/motion_planning_container, /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner, /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner, /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker, /planning/scenario_planning/scenario_selector, /planning/scenario_planning/external_velocity_limit_selector, /planning/scenario_planning/parking/parking_container, /planning/scenario_planning/parking/costmap_generator, /planning/scenario_planning/parking/freespace_planner, /planning/scenario_planning/motion_velocity_smoother, /planning/planning_diagnostics/planning_error_monitor, /aggregator_node, /robot_state_publisher, /control/control_container, /control/trajectory_follower/controller_node_exe, /control/trajectory_follower/lane_departure_checker_node, /control/external_cmd_selector, /control/external_cmd_converter, /control/shift_decider, /control/vehicle_cmd_gate, /control/operation_mode_transition_manager, /awapi/awapi_relay_container, /awapi/awapi_awiv_adapter_node, /awapi/route_relay, /awapi/predict_object_relay, /awapi/nearest_traffic_signal_relay, /awapi/ready_module_relay, /awapi/force_available_relay, /awapi/running_modules_relay, /awapi/autoware_engage_relay, /awapi/vehicle_engage_relay, /awapi/put_route_relay, /awapi/put_goal_relay, /awapi/lane_change_approval_relay, /awapi/force_lane_change_relay, /awapi/external_approval_relay, /awapi/force_approval_relay, /awapi/obstacle_avoid_approval_relay, /awapi/traffic_signal_relay, /awapi/overwrite_traffic_signals_relay, /awapi/speed_exceeded_relay, /awapi/crosswalk_status_relay, /awapi/intersection_status_relay, /awapi/expand_stop_range_relay, /awapi/pose_initialization_request_relay, /autoware_api/external/autoware_iv_adaptor, /autoware_api/external/cpu_usage, /autoware_api/external/start, /autoware_api/external/diagnostics, /autoware_api/external/door, /autoware_api/external/emergency, /autoware_api/external/engage, /autoware_api/external/fail_safe_state, /autoware_api/external/initial_pose, /autoware_api/external/map, /autoware_api/external/operator, /autoware_api/external/metadata_packages, /autoware_api/external/route, /autoware_api/external/service, /autoware_api/external/vehicle_status, /autoware_api/external/velocity, /autoware_api/external/version, /autoware_api/internal/traffic_signals, /autoware_api/internal/autoware_iv_adaptor, /autoware_api/internal/intersection_states, /autoware_api/internal/initial_pose_2d, /autoware_api/internal/crosswalk_states, /autoware_api/internal/initial_pose, /autoware_api/internal/iv_msgs, /autoware_api/internal/operator, /autoware_api/internal/route, /autoware_api/internal/velocity, /initial_pose_2d, /fault_injection, /perception/object_recognition/tracking/multi_object_tracker, /perception/object_recognition/prediction/m
"/control/vehicle_cmd_gate /autoware_api/external/emergency 1\n",
"/system/emergency_handler /control/vehicle_cmd_gate 4\n",
"/control/external_cmd_selector /autoware_api/internal/operator 1\n",
"/simulation/openscenario_interpreter /simulation/openscenario_visualizer 1\n",
"/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner /control/vehicle_cmd_gate 2\n",
"/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner /awapi/awapi_awiv_adapter_node 2\n",
"/perception/object_recognition/prediction/map_based_prediction /planning/scenario_planning/parking/costmap_generator 1\n",
"/perception/object_recognition/prediction/map_based_prediction /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner 1\n",
"/perception/object_recognition/prediction/map_based_prediction /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner 1\n",
"/perception/object_recognition/prediction/map_based_prediction /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner 1\n",
"/perception/object_recognition/prediction/map_based_prediction /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker 1\n",
"/perception/object_recognition/prediction/map_based_prediction /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner 1\n",
"/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner /planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_approver 6\n",
"/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner /planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_approver 6\n",
"/system/system_monitor/cpu_monitor /autoware_api/external/cpu_usage 1\n",
"/autoware_api/internal/operator /autoware_api/external/operator 2\n",
"/control/vehicle_cmd_gate /simulation/concealer 4\n",
"/simulation/concealer /control/trajectory_follower/controller_node_exe 2\n",
"/simulation/concealer /autoware_api/external/vehicle_status 4\n",
"/simulation/concealer /awapi/awapi_awiv_adapter_node 5\n",
"/simulation/concealer /control/vehicle_cmd_gate 1\n",
"/control/vehicle_cmd_gate /system/emergency_handler 1\n",
"/control/vehicle_cmd_gate /awapi/awapi_awiv_adapter_node 3\n",
"/control/vehicle_cmd_gate /autoware_api/external/vehicle_status 1\n",
"/control/vehicle_cmd_gate /control/operation_mode_transition_manager 2\n",
"/control/vehicle_cmd_gate /system/ad_service_state_monitor 1\n",
"/control/vehicle_cmd_gate /autoware_api/external/engage 1\n",
"/perception/object_recognition/tracking/multi_object_tracker /autoware_api/internal/iv_msgs 1\n",
"/perception/object_recognition/tracking/multi_object_tracker /perception/object_recognition/prediction/map_based_prediction 1\n",
"/control/trajectory_follower/controller_node_exe /control/vehicle_cmd_gate 1\n",
"/control/trajectory_follower/controller_node_exe /control/shift_decider 1\n",
"/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner /awapi/awapi_awiv_adapter_node 1\n",
"/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker /awapi/awapi_awiv_adapter_node 1\n",
"/autoware_api/internal/route /autoware_api/external/route 1\n",
"/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner /planning/scenario_planning/scenario_selector 1\n",
"/planning/scenario_planning/scenario_selector /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner 1\n",
"/planning/scenario_planning/scenario_selector /planning/scenario_planning/parking/costmap_generator 1\n",
"/planning/scenario_planning/scenario_selector /planning/scenario_planning/parking/freespace_planner 1\n",
"/system/ad_service_state_monitor /simulation/concealer 1\n",
"/system/ad_service_state_monitor /system/system_error_monitor 1\n",
"/system/ad_service_state_monitor /autoware_api/external/engage 1\n",
"/system/ad_service_state_monitor /autoware_api/internal/iv_msgs 1\n",
"/system/ad_service_state_monitor /autoware_api/external/route 1\n",
"/planning/scenario_planning/parking/freespace_planner /planning/scenario_planning/scenario_selector 1\n",
"/simulation/concealer /system/ad_service_state_monitor 2\n",
"/simulation/concealer /autoware_api/internal/operator 1\n",
"/simulation/concealer /control/operation_mode_transition_manager 2\n",
"/simulation/concealer /system/emergency_handler 2\n",
"/simulation/concealer /system/system_error_monitor 1\n",
"/simulation/concealer /autoware_api/internal/iv_msgs 1\n",
"/simulation/openscenario_interpreter /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner 1\n",
"/simulation/concealer /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner 1\n",
"/simulation/concealer /control/external_cmd_converter 1\n",
"/simulation/concealer /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner 1\n",
"/simulation/concealer /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker 2\n",
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"</g>\n",
"<!-- /autoware_api/internal/iv_msgs->/awapi/awapi_awiv_adapter_node -->\n",
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},
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"metadata": {},
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}
],
2022-05-30 16:51:06 +02:00
"source": [
2022-09-12 19:24:26 +02:00
"%%skip_if_false DFG_ENABLED\n",
"%%skip_if_false DFG_PLOT\n",
"\n",
2022-08-29 22:17:52 +02:00
"import re\n",
"import math\n",
"\n",
2022-08-09 18:36:53 +02:00
"##################################################\n",
"# Compute in/out topics for hierarchy level X\n",
"##################################################\n",
2022-05-31 16:49:47 +02:00
"\n",
2022-08-09 18:36:53 +02:00
"def get_nodes_on_level(lat_graph: lg.LatencyGraph):\n",
" def _traverse_node(node: lg.LGHierarchyLevel, cur_lvl=0):\n",
2022-09-12 19:24:26 +02:00
" if cur_lvl == DFG_MAX_HIER_LEVEL:\n",
2022-08-09 18:36:53 +02:00
" return [node]\n",
2022-06-03 14:57:54 +02:00
"\n",
2022-09-12 19:24:26 +02:00
" if not node.children and cur_lvl < DFG_MAX_HIER_LEVEL:\n",
2022-08-09 18:36:53 +02:00
" return [node]\n",
2022-07-20 13:35:06 +02:00
"\n",
2022-08-09 18:36:53 +02:00
" collected_nodes = []\n",
" for ch in node.children:\n",
" collected_nodes += _traverse_node(ch, cur_lvl + 1)\n",
" return collected_nodes\n",
2022-07-20 13:35:06 +02:00
"\n",
2022-08-09 18:36:53 +02:00
" return _traverse_node(lat_graph.top_node)\n",
2022-06-28 10:06:42 +02:00
"\n",
2022-08-09 18:36:53 +02:00
"lvl_nodes = get_nodes_on_level(lat_graph)\n",
2022-09-12 19:24:26 +02:00
"lvl_nodes = [n for n in lvl_nodes if not any(re.search(p, n.full_name) for p in DFG_EXCL_NODE_PATTERNS)]\n",
2022-06-03 14:57:54 +02:00
"\n",
2022-09-12 19:24:26 +02:00
"input_nodes = [n.full_name for n in lvl_nodes if any(re.search(p, n.full_name) for p in DFG_INPUT_NODE_PATTERNS)]\n",
"output_nodes = [n.full_name for n in lvl_nodes if any(re.search(p, n.full_name) for p in DFG_OUTPUT_NODE_PATTERNS)]\n",
2022-08-29 22:17:52 +02:00
"\n",
"print(', '.join(map(lambda n: n, input_nodes)))\n",
"print(', '.join(map(lambda n: n, output_nodes)))\n",
2022-08-09 18:36:53 +02:00
"print(', '.join(map(lambda n: n.full_name, lvl_nodes)))\n",
2022-06-28 10:06:42 +02:00
"\n",
2022-08-09 18:36:53 +02:00
"def _collect_callbacks(n: lg.LGHierarchyLevel):\n",
" callbacks = []\n",
" callbacks += n.callbacks\n",
" for ch in n.children:\n",
" callbacks += _collect_callbacks(ch)\n",
" return callbacks\n",
2022-07-20 13:35:06 +02:00
"\n",
2022-06-28 10:06:42 +02:00
"\n",
2022-08-09 18:36:53 +02:00
"cb_to_node_map = {}\n",
"for n in lvl_nodes:\n",
" cbs = _collect_callbacks(n)\n",
" for cb in cbs:\n",
" cb_to_node_map[cb.id()] = n\n",
2022-06-28 10:06:42 +02:00
"\n",
"\n",
2022-08-09 18:36:53 +02:00
"edges_between_nodes = {}\n",
"for edge in lat_graph.edges:\n",
" from_node = cb_to_node_map.get(edge.start.id())\n",
" to_node = cb_to_node_map.get(edge.end.id())\n",
2022-07-20 13:35:06 +02:00
"\n",
2022-08-09 18:36:53 +02:00
" if from_node is None or to_node is None:\n",
" continue\n",
2022-06-28 10:06:42 +02:00
"\n",
2022-08-09 18:36:53 +02:00
" if from_node.full_name == to_node.full_name:\n",
" continue\n",
2022-06-28 10:06:42 +02:00
"\n",
2022-08-09 18:36:53 +02:00
" k = (from_node.full_name, to_node.full_name)\n",
2022-06-03 14:57:54 +02:00
"\n",
2022-08-09 18:36:53 +02:00
" if k not in edges_between_nodes:\n",
2022-08-29 22:17:52 +02:00
" edges_between_nodes[k] = []\n",
2022-05-31 16:03:52 +02:00
"\n",
2022-08-29 22:17:52 +02:00
" edges_between_nodes[k].append(edge)\n",
2022-05-31 15:02:55 +02:00
"\n",
2022-07-20 13:35:06 +02:00
"g = gv.Digraph('G', filename=\"latency_graph.gv\",\n",
2022-08-09 18:36:53 +02:00
" node_attr={'shape': 'plain'},\n",
2022-07-20 13:35:06 +02:00
" graph_attr={'pack': '1'})\n",
2022-06-28 10:06:42 +02:00
"g.graph_attr['rankdir'] = 'LR'\n",
"\n",
2022-08-09 18:36:53 +02:00
"for n in lvl_nodes:\n",
" colors = node_colors[node_namespace_mapping.get(n.full_name.strip(\"/\").split(\"/\")[0])]\n",
2022-08-29 22:17:52 +02:00
" peripheries = \"1\" if n.full_name not in output_nodes else \"2\"\n",
" g.node(n.full_name, label=n.full_name, fillcolor=colors[\"fill\"], color=colors[\"stroke\"],\n",
" shape=\"box\", style=\"filled\", peripheries=peripheries)\n",
"\n",
" if n.full_name in input_nodes:\n",
" helper_node_name = f\"{n.full_name}__before\"\n",
" g.node(helper_node_name, label=\"\", shape=\"none\", height=\"0\", width=\"0\")\n",
" g.edge(helper_node_name, n.full_name)\n",
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"\n",
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"def compute_e2e_paths(start_nodes, end_nodes, edges):\n",
" frontier_paths = [[n] for n in start_nodes]\n",
" final_paths = []\n",
"\n",
" while frontier_paths:\n",
" frontier_paths_new = []\n",
"\n",
" for path in frontier_paths:\n",
" head = path[-1]\n",
" if head in end_nodes:\n",
" final_paths.append(path)\n",
" continue\n",
"\n",
" out_nodes = [n_to for n_from, n_to in edges if n_from == head if n_to not in path]\n",
" new_paths = [path + [n] for n in out_nodes]\n",
" frontier_paths_new += new_paths\n",
"\n",
" frontier_paths = frontier_paths_new\n",
"\n",
" final_paths = [[(n_from, n_to)\n",
" for n_from, n_to in zip(path[:-1], path[1:])]\n",
" for path in final_paths]\n",
" return final_paths\n",
"\n",
"e2e_paths = compute_e2e_paths(input_nodes, output_nodes, edges_between_nodes)\n",
"\n",
"for (src_name, dst_name), edges in edges_between_nodes.items():\n",
" print(src_name, dst_name, len(edges))\n",
" color = \"black\" if any((src_name, dst_name) in path for path in e2e_paths) else \"tomato\"\n",
" g.edge(src_name, dst_name, penwidth=str(math.log(len(edges)) * 2 + .2), color=color)\n",
2022-06-28 10:06:42 +02:00
"\n",
2022-08-09 18:36:53 +02:00
"g.save(\"level_graph.gv\")\n",
"g.render(\"level_graph.svg\")\n",
2022-06-28 10:06:42 +02:00
"\n",
"g"
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]
},
{
"cell_type": "code",
"execution_count": 51,
2022-07-19 18:34:41 +02:00
"metadata": {
"pycharm": {
"name": "#%%\n"
}
2022-09-14 18:27:41 +02:00
},
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"outputs": [],
"source": [
2022-09-12 19:24:26 +02:00
"%%skip_if_false E2E_ENABLED\n",
"\n",
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"from latency_graph.message_tree import DepTree\n",
"from tqdm.notebook import tqdm\n",
"from bisect import bisect\n",
"\n",
"\n",
"def inst_get_dep_msg(inst: TrCallbackInstance):\n",
" if inst.callback_object not in _tracing_context.callback_objects.by_callback_object:\n",
" # print(\"Callback not found (2)\")\n",
" return None\n",
"\n",
" if not isinstance(inst.callback_obj.owner, TrSubscriptionObject):\n",
" # print(f\"Wrong type: {type(inst.callback_obj.owner)}\")\n",
" return None\n",
"\n",
" sub_obj: TrSubscriptionObject = inst.callback_obj.owner\n",
" if sub_obj and sub_obj.subscription and sub_obj.subscription.topic:\n",
" # print(f\"Subscription has no topic\")\n",
" pubs = sub_obj.subscription.topic.publishers\n",
" else:\n",
" pubs = []\n",
"\n",
" def _pub_latest_msg_before(pub: TrPublisher, inst):\n",
" i_latest_msg = bisect(pub.instances, inst.timestamp, key=lambda x: x.timestamp) - 1\n",
" if i_latest_msg < 0 or i_latest_msg >= len(pub.instances):\n",
" return None\n",
" latest_msg = pub.instances[i_latest_msg]\n",
" if latest_msg.timestamp >= inst.timestamp:\n",
" return None\n",
"\n",
" return latest_msg\n",
"\n",
" msgs = [_pub_latest_msg_before(pub, inst) for pub in pubs]\n",
" msgs = [msg for msg in msgs if msg is not None]\n",
" msgs.sort(key=lambda i: i.timestamp, reverse=True)\n",
" if msgs:\n",
" msg = msgs[0]\n",
" return msg\n",
"\n",
" # print(f\"No messages found for topic {sub_obj.subscription.topic}\")\n",
" return None\n",
"\n",
"def inst_get_dep_insts(inst: TrCallbackInstance):\n",
" if inst.callback_object not in _tracing_context.callback_objects.by_callback_object:\n",
" # print(\"Callback not found\")\n",
" return []\n",
" dep_cbs = get_cb_dep_cbs(inst.callback_obj)\n",
"\n",
" def _cb_to_chronological_inst(cb: TrCallbackObject, inst):\n",
" i_inst_latest = bisect(cb.callback_instances, inst.timestamp, key=lambda x: x.timestamp)\n",
"\n",
" for inst_before in cb.callback_instances[i_inst_latest::-1]:\n",
" if lg.inst_runtime_interval(inst_before)[-1] < inst.timestamp:\n",
" return inst_before\n",
"\n",
" return None\n",
"\n",
" insts = [_cb_to_chronological_inst(cb, inst) for cb in dep_cbs]\n",
" insts = [inst for inst in insts if inst is not None]\n",
" return insts\n",
"\n",
"def get_cb_dep_cbs(cb: TrCallbackObject):\n",
" match cb.owner:\n",
" case TrSubscriptionObject() as sub_obj:\n",
" sub_obj: TrSubscriptionObject\n",
" owner = sub_obj.subscription.node\n",
" case TrTimer() as tmr:\n",
" tmr: TrTimer\n",
" owner = tmr.node\n",
" case _:\n",
" raise RuntimeError(f\"Encountered {cb.owner} as callback owner\")\n",
"\n",
" owner: TrNode\n",
" dep_sub_objs = {sub.subscription_object for sub in owner.subscriptions}\n",
" dep_cbs = {callback_objects.by_id.get(sub_obj.id) for sub_obj in dep_sub_objs if sub_obj is not None}\n",
" dep_cbs |= {callback_objects.by_id.get(tmr.id) for tmr in owner.timers}\n",
" dep_cbs.discard(cb)\n",
" dep_cbs.discard(None)\n",
"\n",
" return dep_cbs\n",
"\n",
"\n",
"def get_msg_dep_cb(msg: TrPublishInstance):\n",
" \"\"\"\n",
" For a given message instance `msg`, find the publishing callback,\n",
" as well as the message instances that callback depends on (transitively within its TrNode).\n",
" \"\"\"\n",
"\n",
" # Find CB instance that published msg\n",
" # print(f\"PUB {msg.publisher.node.path if msg.publisher.node is not None else '??'} ==> {msg.publisher.topic_name}\")\n",
" pub_cbs = lat_graph.pub_cbs.get(msg.publisher)\n",
" if pub_cbs is None:\n",
" # print(\"Publisher unknown to lat graph. Skipping.\")\n",
" return None\n",
"\n",
" # print(f\"Found {len(pub_cbs)} pub cbs\")\n",
" cb_inst_candidates = []\n",
" for cb in pub_cbs:\n",
" # print(f\" > CB ({len(cb.callback_instances)} instances): {cb.callback_symbol.symbol if cb.callback_symbol else cb.id}\")\n",
" i_inst_after = bisect(cb.callback_instances, msg.timestamp, key=lambda x: x.timestamp)\n",
"\n",
" for inst in cb.callback_instances[:i_inst_after]:\n",
" inst_start, inst_end = lg.inst_runtime_interval(inst)\n",
" if msg.timestamp > inst_end:\n",
" continue\n",
"\n",
" assert inst_start <= msg.timestamp <= inst_end\n",
"\n",
" cb_inst_candidates.append(inst)\n",
"\n",
" if len(cb_inst_candidates) > 1:\n",
" # print(\"Found multiple possible callbacks\")\n",
" return None\n",
" if not cb_inst_candidates:\n",
" # print(\"Found no possible callbacks\")\n",
" return None\n",
"\n",
" dep_inst = cb_inst_candidates[0]\n",
" return dep_inst\n",
"\n",
"\n",
2022-09-14 18:27:41 +02:00
"def get_dep_tree(inst: TrPublishInstance | TrCallbackInstance, lvl=0, visited_topics=None, is_dep_cb=False, start_time=None):\n",
2022-08-29 22:17:52 +02:00
" if visited_topics is None:\n",
" visited_topics = set()\n",
2022-09-14 18:27:41 +02:00
" \n",
" if start_time is None:\n",
" start_time = inst.timestamp\n",
" \n",
" if inst.timestamp - start_time > E2E_TIME_LIMIT_S:\n",
" return None\n",
" \n",
2022-08-29 22:17:52 +02:00
" children_are_dep_cbs = False\n",
"\n",
" match inst:\n",
" case TrPublishInstance(publisher=pub):\n",
" if pub.topic_name in visited_topics:\n",
" return None\n",
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" \n",
" if pub.node and pub.node.name and \"concealer\" in pub.node.name:\n",
" return None\n",
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"\n",
" visited_topics.add(pub.topic_name)\n",
" deps = [get_msg_dep_cb(inst)]\n",
" case TrCallbackInstance() as cb_inst:\n",
" deps = [inst_get_dep_msg(cb_inst)]\n",
" if not is_dep_cb:\n",
" deps += inst_get_dep_insts(cb_inst)\n",
" children_are_dep_cbs = True\n",
2022-09-14 18:27:41 +02:00
" match cb_inst.callback_obj.owner:\n",
" case TrSubscriptionObject() as sub_obj:\n",
" if \"concealer\" in sub_obj.subscription.node.name:\n",
" return None\n",
" case TrTimer() as tmr_obj:\n",
" if \"concealer\" in tmr_obj.node.name:\n",
" return None\n",
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" case _:\n",
2022-09-14 18:27:41 +02:00
" return None\n",
2022-08-29 22:17:52 +02:00
" raise TypeError(f\"Expected inst to be of type TrPublishInstance or TrCallbackInstance, got {type(inst).__name__}\")\n",
2022-09-14 18:27:41 +02:00
" #print(\"Rec level\", lvl)\n",
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" deps = [dep for dep in deps if dep is not None]\n",
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" deps = [get_dep_tree(dep, lvl + 1, set(visited_topics), children_are_dep_cbs, start_time) for dep in deps]\n",
2022-08-29 22:17:52 +02:00
" deps = [dep for dep in deps if dep is not None]\n",
" return DepTree(inst, deps)"
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]
2022-08-29 22:17:52 +02:00
},
{
"cell_type": "code",
"execution_count": null,
2022-09-14 18:27:41 +02:00
"metadata": {
"pycharm": {
"name": "#%%\n"
}
},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"[CACHE] Creating cache entry for trees (in cache/trees_507fec94db.pkl).\n"
]
},
{
"data": {
"application/vnd.jupyter.widget-view+json": {
"model_id": "572f74ee819445209689768947f4e6fb",
"version_major": 2,
"version_minor": 0
},
"text/plain": [
"Building message chains for topic /control/command/control_cmd: 0%| | 0/1500 [00:00<?, ?it/s]"
]
},
"metadata": {},
"output_type": "display_data"
}
],
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"source": [
2022-09-12 19:24:26 +02:00
"%%skip_if_false E2E_ENABLED\n",
"\n",
"end_topics = [t for t in _tracing_context.topics if any(re.search(f, t.name) for f in E2E_OUTPUT_TOPIC_PATTERNS)]\n",
"\n",
"def build_dep_trees():\n",
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" all_trees = []\n",
2022-09-12 19:24:26 +02:00
" for end_topic in end_topics:\n",
" end_topic: TrTopic\n",
"\n",
" pubs = end_topic.publishers\n",
" for pub in pubs:\n",
" msgs = pub.instances\n",
" for msg in tqdm(msgs, desc=f\"Building message chains for topic {end_topic.name}\"):\n",
" msg: TrPublishInstance\n",
" tree = get_dep_tree(msg)\n",
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" all_trees.append(tree)\n",
" return all_trees\n",
2022-09-12 19:24:26 +02:00
"\n",
"trees = cached(\"trees\", build_dep_trees, [TR_PATH])"
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]
},
{
"cell_type": "code",
"execution_count": 28,
2022-08-29 22:17:52 +02:00
"metadata": {
"pycharm": {
"name": "#%%\n"
}
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},
"outputs": [
{
"data": {
"text/plain": [
"'Skipped (evaluated BW_ENABLED to False)'"
]
},
"execution_count": 28,
"metadata": {},
"output_type": "execute_result"
}
],
2022-08-29 22:17:52 +02:00
"source": [
2022-09-12 19:24:26 +02:00
"%%skip_if_false E2E_ENABLED\n",
"%%skip_if_false BW_ENABLED\n",
"\n",
2022-08-29 22:17:52 +02:00
"import glob\n",
"\n",
"\n",
"def parse_bytes(string):\n",
" match string[-1]:\n",
" case 'K':\n",
" exponent = 1e3\n",
" case 'M':\n",
" exponent = 1e6\n",
" case _:\n",
" exponent = 1\n",
"\n",
" num = float(string.split(\" \")[0])\n",
" return num * exponent\n",
"\n",
"\n",
"def bytes_str(bytes):\n",
" if bytes >= 1024**2:\n",
" return f\"{bytes/(1024**2):.2f} MiB\"\n",
" if bytes >= 1024:\n",
" return f\"{bytes/1024:.2f} KiB\"\n",
" return f\"{bytes:.0f} B\"\n",
"\n",
"\n",
"bw_files = glob.glob(os.path.join(BW_PATH, \"*.log\"))\n",
"msg_sizes = {}\n",
"for bw_file in bw_files:\n",
" with open(bw_file) as f:\n",
" lines = f.readlines()\n",
" topic = os.path.splitext(os.path.split(bw_file)[1])[0].replace(\"__\", \"/\")\n",
"\n",
" if not lines or re.match(f\"^\\s*$\", lines[-1]):\n",
" #print(f\"No data for {topic}\")\n",
" continue\n",
"\n",
" line_pattern = re.compile(r\"(?P<bw>[0-9.]+ [KM]?)B/s from (?P<n_msgs>[0-9.]+) messages --- Message size mean: (?P<mean>[0-9.]+ [KM]?)B min: (?P<min>[0-9.]+ [KM]?)B max: (?P<max>[0-9.]+ [KM]?)B\\n\")\n",
" m = re.fullmatch(line_pattern, lines[-1])\n",
" if m is None:\n",
" print(f\"Line could not be parsed in {topic}: '{lines[-1]}'\")\n",
" continue\n",
"\n",
" msg_sizes[topic] = {'bw': parse_bytes(m.group(\"bw\")),\n",
" 'min': parse_bytes(m.group(\"min\")),\n",
" 'mean': parse_bytes(m.group(\"mean\")),\n",
" 'max': parse_bytes(m.group(\"max\"))}\n"
2022-09-14 18:27:41 +02:00
]
},
{
"cell_type": "code",
"execution_count": 29,
2022-08-29 22:17:52 +02:00
"metadata": {
"pycharm": {
"name": "#%%\n"
}
2022-09-14 18:27:41 +02:00
},
2022-08-29 22:17:52 +02:00
"outputs": [],
"source": [
2022-09-12 19:24:26 +02:00
"%%skip_if_false E2E_ENABLED\n",
2022-08-29 22:17:52 +02:00
"\n",
2022-09-12 19:24:26 +02:00
"\n",
"from latency_graph.message_tree import DepTree\n",
2022-08-29 22:17:52 +02:00
"\n",
"def leaf_topics(tree: DepTree, lvl=0):\n",
" ret_list = []\n",
" match tree.head:\n",
" case TrPublishInstance(publisher=pub):\n",
" if pub:\n",
" ret_list += [(lvl, pub.topic_name)]\n",
" ret_list += [(lvl, None)]\n",
"\n",
" for dep in tree.deps:\n",
" ret_list += leaf_topics(dep, lvl+1)\n",
" return ret_list\n",
"\n",
"\n",
"def all_e2es(tree: DepTree, t_start=None):\n",
" if t_start is None:\n",
" t_start = tree.head.timestamp\n",
"\n",
" if not tree.deps:\n",
" return [t_start - tree.head.timestamp]\n",
"\n",
" ret_list = []\n",
" for dep in tree.deps:\n",
" ret_list += all_e2es(dep, t_start)\n",
" return ret_list\n",
"\n",
2022-09-12 19:24:26 +02:00
"\n",
"def relevant_e2es(tree: DepTree, input_topic_patterns, t_start=None, path=None):\n",
2022-08-29 22:17:52 +02:00
" if t_start is None:\n",
" t_start = tree.head.timestamp\n",
"\n",
" if path is None:\n",
" path = []\n",
"\n",
" latency = t_start - tree.head.timestamp\n",
" if latency > E2E_TIME_LIMIT_S:\n",
" return []\n",
"\n",
" new_path = [tree.head] + path\n",
"\n",
" if not tree.deps:\n",
" match tree.head:\n",
" case TrPublishInstance(publisher=pub):\n",
2022-09-12 19:24:26 +02:00
" if pub and any(re.search(f, pub.topic_name) for f in input_topic_patterns):\n",
2022-08-29 22:17:52 +02:00
" return [(latency,new_path)]\n",
"\n",
" ret_list = []\n",
" for dep in tree.deps:\n",
2022-09-12 19:24:26 +02:00
" ret_list += relevant_e2es(dep, input_topic_patterns, t_start, new_path)\n",
2022-08-29 22:17:52 +02:00
" return ret_list\n",
"\n",
"\n",
"e2ess = []\n",
"e2e_pathss = []\n",
"for tree in trees:\n",
2022-09-14 18:27:41 +02:00
" e2es, e2e_paths = zip(*relevant_e2es(tree, [\"\"]))\n",
2022-08-29 22:17:52 +02:00
" e2ess.append(e2es)\n",
" e2e_pathss.append(e2e_paths)"
2022-09-14 18:27:41 +02:00
]
},
{
"cell_type": "code",
"execution_count": 30,
2022-08-29 22:17:52 +02:00
"metadata": {
"pycharm": {
"name": "#%%\n"
}
2022-09-14 18:27:41 +02:00
},
2022-08-29 22:17:52 +02:00
"outputs": [],
"source": [
2022-09-12 19:24:26 +02:00
"#from matplotlib.animation import FuncAnimation\n",
"#from IPython import display\n",
2022-08-29 22:17:52 +02:00
"\n",
2022-09-12 19:24:26 +02:00
"#fig, ax = plt.subplots(figsize=(16, 9))\n",
"#ax: plt.Axes\n",
"#ax.set_xlim(0, 4)\n",
2022-08-29 22:17:52 +02:00
"\n",
2022-09-12 19:24:26 +02:00
"#ax.hist([], bins=200, range=(0, 4), histtype='stepfilled')\n",
"#ax.set_title(\"Time: 0.000000s\")\n",
2022-08-29 22:17:52 +02:00
"\n",
2022-09-12 19:24:26 +02:00
"#def anim(frame):\n",
"# print(frame, end='\\r')\n",
"# ax.clear()\n",
"# ax.hist(e2es[frame], bins=200, range=(0, 4), histtype='stepfilled')\n",
"# ax.set_title(f\"Time: {(trees[frame].head.timestamp - trees[0].head.timestamp):.6}s\")\n",
2022-08-29 22:17:52 +02:00
"\n",
"\n",
2022-09-12 19:24:26 +02:00
"#anim_created = FuncAnimation(fig, anim, min(len(trees), 10000), interval=16, repeat_delay=200)\n",
2022-08-29 22:17:52 +02:00
"\n",
2022-09-12 19:24:26 +02:00
"#video = anim_created.save(\"anim.mp4\", dpi=120)\n",
2022-08-29 22:17:52 +02:00
"\n",
"#for tree in trees:\n",
"# path = tree.critical_path(start_topic_filters)\n",
"# for i, inst in enumerate(path[::-1]):\n",
"# match inst:\n",
"# case TrPublishInstance(publisher=pub):\n",
"# print(f\" {i:>3d}: T\", pub.topic_name)\n",
"# case TrCallbackInstance(callback_obj=cb):\n",
"# match cb.owner:\n",
"# case TrSubscriptionObject(subscription=sub):\n",
"# node = sub.node\n",
"# case TrTimer() as tmr:\n",
"# node = tmr.node\n",
"# case _:\n",
"# raise ValueError(f\"Callback owner type not recognized: {type(cb.owner).__name__}\")\n",
"#\n",
"# print(f\" {i:>3d}: N\", node.path)\n",
"# print(\"==================\")\n"
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]
},
{
"cell_type": "code",
"execution_count": 31,
2022-08-29 22:17:52 +02:00
"metadata": {
"pycharm": {
"name": "#%%\n"
}
2022-09-14 18:27:41 +02:00
},
"outputs": [
{
"data": {
"text/plain": [
"'Skipped (evaluated E2E_PLOT to False)'"
]
},
"execution_count": 31,
"metadata": {},
"output_type": "execute_result"
}
],
2022-08-29 22:17:52 +02:00
"source": [
2022-09-12 19:24:26 +02:00
"%%skip_if_false E2E_ENABLED\n",
"%%skip_if_false E2E_PLOT\n",
"\n",
"\n",
2022-08-29 22:17:52 +02:00
"fig, ax = plt.subplots(figsize=(18, 9), num=\"e2e_plot\")\n",
"DS=1\n",
"times = [tree.head.timestamp - trees[0].head.timestamp for tree in trees[::DS]]\n",
"\n",
"ax2 = ax.twinx()\n",
"ax2.plot(times, list(map(lambda paths: sum(map(len, paths)) / len(paths), e2e_pathss[::DS])), color=\"orange\")\n",
"ax2.fill_between(times,\n",
" list(map(lambda paths: min(map(len, paths)), e2e_pathss[::DS])),\n",
" list(map(lambda paths: max(map(len, paths)), e2e_pathss[::DS])),\n",
" alpha=.3, color=\"orange\")\n",
"\n",
"ax.plot(times, [np.mean(e2es) for e2es in e2ess[::DS]])\n",
"ax.fill_between(times, [np.min(e2es) for e2es in e2ess[::DS]], [np.max(e2es) for e2es in e2ess[::DS]], alpha=.3)\n",
"\n",
"def scatter_topic(topic_name, y=0, **scatter_kwargs):\n",
" for pub in topics.by_name[topic_name].publishers:\n",
" if not pub:\n",
" continue\n",
"\n",
" inst_timestamps = [inst.timestamp - trees[0].head.timestamp for inst in pub.instances if inst.timestamp >= trees[0].head.timestamp]\n",
" scatter_kwargs_default = {\"marker\": \"x\", \"color\": \"indianred\"}\n",
" scatter_kwargs_default.update(scatter_kwargs)\n",
" ax.scatter(inst_timestamps, np.full(len(inst_timestamps), fill_value=y), **scatter_kwargs_default)\n",
"\n",
"scatter_topic(\"/autoware/engage\")\n",
"scatter_topic(\"/planning/scenario_planning/parking/trajectory\", y=-.04, color=\"cadetblue\")\n",
"scatter_topic(\"/planning/scenario_planning/lane_driving/trajectory\", y=-.08, color=\"darkgreen\")\n",
"\n",
"ax.set_xlabel(\"Simulation time [s]\")\n",
"ax.set_ylabel(\"End-to-End latency [s]\")\n",
"ax2.set_ylabel(\"End-to-End path length\")\n",
"None"
2022-09-14 18:27:41 +02:00
]
},
{
"cell_type": "code",
"execution_count": 32,
2022-08-29 22:17:52 +02:00
"metadata": {
"pycharm": {
"name": "#%%\n"
}
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},
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"outputs": [],
"source": [
2022-09-12 19:24:26 +02:00
"%%skip_if_false E2E_ENABLED\n",
"\n",
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"def critical_path(self):\n",
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" if not self.deps:\n",
" return [self.head]\n",
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" return [self.head, *min(map(critical_path, self.deps), key=lambda ls: ls[-1].timestamp)]\n",
"\n",
"\n",
"def e2e_lat(self):\n",
" return self.head.timestamp - critical_path(self)[-1].timestamp\n",
"\n",
"\n",
"def get_relevant_tree(tree: DepTree, accept_leaf=lambda x: True, root=None):\n",
" if root is None:\n",
" root = tree.head\n",
" if not tree.deps:\n",
" if accept_leaf(tree.head, root):\n",
" return tree\n",
" return None\n",
"\n",
" relevant_deps = [get_relevant_tree(dep, accept_leaf, root) for dep in tree.deps]\n",
" if not any(relevant_deps):\n",
" return None\n",
"\n",
" return DepTree(tree.head, [dep for dep in relevant_deps if dep])\n",
"\n",
"\n",
"def fanout(self):\n",
" if not self.deps:\n",
" return 1\n",
"\n",
" return sum(map(fanout, self.deps))\n",
"\n",
"\n",
"def sort_subtree(subtree: DepTree, sort_func=lambda t: t.head.timestamp - e2e_lat(t)):\n",
" subtree.deps.sort(key=sort_func)\n",
" for dep in subtree.deps:\n",
" sort_subtree(dep, sort_func)\n",
" return subtree\n",
"\n",
"def _leaf_filter(inst, root):\n",
" if root.timestamp - inst.timestamp > E2E_TIME_LIMIT_S:\n",
" return False\n",
"\n",
" match inst:\n",
" case TrPublishInstance(publisher=pub):\n",
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" return pub and any(f in pub.topic_name for f in E2E_INPUT_TOPIC_PATTERNS)\n",
2022-08-29 22:17:52 +02:00
" return False\n",
"\n",
"\n",
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"relevant_trees = [get_relevant_tree(tree, _leaf_filter) for tree in trees]\n",
"relevant_trees = [t for t in relevant_trees if t]"
]
},
{
"cell_type": "code",
"execution_count": 33,
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"metadata": {
"pycharm": {
"name": "#%%\n"
}
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},
"outputs": [
{
"data": {
"text/plain": [
"'Skipped (evaluated E2E_PLOT to False)'"
]
},
"execution_count": 33,
"metadata": {},
"output_type": "execute_result"
}
],
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"source": [
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"%%skip_if_false E2E_ENABLED\n",
"%%skip_if_false E2E_PLOT\n",
"\n",
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"from cycler import cycler\n",
"\n",
"def dict_safe_append(dictionary, key, value):\n",
" if key not in dictionary:\n",
" dictionary[key] = []\n",
" dictionary[key].append(value)\n",
"\n",
"\n",
"fig, (ax, ax_rel) = plt.subplots(2, 1, sharex=True, figsize=(60, 30), num=\"crit_plot\")\n",
"ax.set_prop_cycle(cycler('color', [plt.cm.nipy_spectral(i/4) for i in range(5)]))\n",
"ax_rel.set_prop_cycle(cycler('color', [plt.cm.nipy_spectral(i/4) for i in range(5)]))\n",
"\n",
"critical_paths = [critical_path(tree) for tree in relevant_trees[::DS]]\n",
"\n",
"time_breakdown = {}\n",
"\n",
"for path in critical_paths:\n",
" tmr_cb_calc_time = 0.0\n",
" sub_cb_calc_time = 0.0\n",
" tmr_cb_relevant_time = 0.0\n",
" sub_cb_relevant_time = 0.0\n",
" dds_time = 0.0\n",
" idle_time = 0.0\n",
"\n",
" last_pub_time = None\n",
" last_cb_time = None\n",
" for inst in path:\n",
" match inst:\n",
" case TrPublishInstance(timestamp=t):\n",
" assert last_pub_time is None, \"Two publication without callback inbetween\"\n",
"\n",
" if last_cb_time is not None:\n",
" dds_time += last_cb_time - t\n",
"\n",
" last_pub_time = t\n",
" last_cb_time = None\n",
" case TrCallbackInstance(callback_obj=cb, timestamp=t, duration=d):\n",
" if last_pub_time is not None:\n",
" assert last_pub_time <= t+d, \"Publication out of CB instance timeframe\"\n",
"\n",
" match cb.owner:\n",
" case TrTimer():\n",
" tmr_cb_calc_time += d\n",
" tmr_cb_relevant_time += last_pub_time - t\n",
" case TrSubscriptionObject():\n",
" sub_cb_calc_time += d\n",
" sub_cb_relevant_time += last_pub_time - t\n",
" elif last_cb_time is not None:\n",
" idle_time += last_cb_time - (t + d)\n",
" last_pub_time = None\n",
" last_cb_time = t\n",
"\n",
" dict_safe_append(time_breakdown, \"Timer CB\", tmr_cb_relevant_time)\n",
" dict_safe_append(time_breakdown, \"Subscription CB\", sub_cb_relevant_time)\n",
" dict_safe_append(time_breakdown, \"DDS\", dds_time)\n",
" dict_safe_append(time_breakdown, \"Idle\", idle_time)\n",
"\n",
"time_breakdown = {k: np.array(v) for k, v in time_breakdown.items()}\n",
"\n",
"timer_cb_times = [sum(inst.duration for inst in path if isinstance(inst, TrCallbackInstance) and isinstance(inst.callback_obj, TrTimer)) for path in critical_paths]\n",
"sub_cb_times = [sum(inst.duration for inst in path if isinstance(inst, TrCallbackInstance)) for path in critical_paths]\n",
"\n",
"labels, values = list(zip(*time_breakdown.items()))\n",
"\n",
"#ax.plot(range(len(relevant_trees[::DS])), [e2e_lat(tree) for tree in relevant_trees[::DS]], label=\"Total E2E\")\n",
"ax.stackplot(range(len(relevant_trees[::DS])), values, labels=labels)\n",
"ax.legend()\n",
"ax.set_title(\"End-to-End Latency Breakdown\")\n",
"ax.set_ylabel(\"End-to-End Latency [s]\")\n",
"\n",
"timestep_mags = np.array([sum(vs) for vs in zip(*values)])\n",
"ax_rel.stackplot(range(len(relevant_trees[::DS])), [val / timestep_mags for val in values], labels=labels)\n",
"ax_rel.set_title(\"End-to-End Latency Breakdown (relative)\")\n",
"ax_rel.set_ylabel(\"End-to-End Latency Fraction\")\n",
"ax_rel.set_xlabel(\"Timestep\")\n",
"ax_rel.legend()\n",
"\n",
"None"
2022-09-14 18:27:41 +02:00
]
},
{
"cell_type": "code",
"execution_count": 34,
2022-08-29 22:17:52 +02:00
"metadata": {
"pycharm": {
"name": "#%%\n"
}
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},
"outputs": [
{
"data": {
"text/plain": [
"'Skipped (evaluated E2E_PLOT to False)'"
]
},
"execution_count": 34,
"metadata": {},
"output_type": "execute_result"
}
],
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"source": [
2022-09-12 19:24:26 +02:00
"%%skip_if_false E2E_ENABLED\n",
"%%skip_if_false E2E_PLOT\n",
"\n",
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"from scipy import stats\n",
"\n",
"fig, ax = plt.subplots(figsize=(60, 15), num=\"crit_pdf\")\n",
"ax.set_prop_cycle(cycler('color', [plt.cm.nipy_spectral(i/4) for i in range(5)]))\n",
"\n",
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"#kde = stats.gaussian_kde(timestep_mags)\n",
"#xs = np.linspace(timestep_mags.min(), timestep_mags.max(), 1000)\n",
"#ax.plot(xs, kde(xs), label=\"End-to-End Latency\")\n",
"#perc = 90\n",
"#ax.axvline(np.percentile(timestep_mags, perc), label=f\"{perc}th percentile\")\n",
2022-08-29 22:17:52 +02:00
"\n",
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"#ax2 = ax.twinx()\n",
"#ax2.hist(timestep_mags, 200)\n",
"#ax2.set_ylim(0, ax2.get_ylim()[1])\n",
2022-08-29 22:17:52 +02:00
"\n",
"ax.set_title(\"Time Distribution for E2E Breakdown\")\n",
"ax.set_xlabel(\"Time [s]\")\n",
"ax.set_ylabel(\"Frequency\")\n",
"ax.set_xlim(0, 2.01)\n",
"ax.set_ylim(0, ax.get_ylim()[1])\n",
"ax.legend()\n",
"\n",
"None"
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]
},
{
"cell_type": "code",
"execution_count": 35,
2022-08-29 22:17:52 +02:00
"metadata": {
"pycharm": {
"name": "#%%\n"
}
2022-09-14 18:27:41 +02:00
},
"outputs": [
{
"data": {
"text/plain": [
"'Skipped (evaluated E2E_PLOT to False)'"
]
},
"execution_count": 35,
"metadata": {},
"output_type": "execute_result"
}
],
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"source": [
2022-09-12 19:24:26 +02:00
"%%skip_if_false E2E_ENABLED\n",
"%%skip_if_false E2E_PLOT\n",
"\n",
2022-08-29 22:17:52 +02:00
"from tracing_interop.tr_types import TrSubscription\n",
"from matching.subscriptions import sanitize\n",
"import matplotlib.patches as mpatch\n",
"from matplotlib.text import Text\n",
"import math\n",
"\n",
2022-09-12 19:24:26 +02:00
"tree = trees[E2E_PLOT_TIMESTAMP]\n",
"e2es = e2ess[E2E_PLOT_TIMESTAMP]\n",
"e2e_paths = e2e_pathss[E2E_PLOT_TIMESTAMP]\n",
2022-08-29 22:17:52 +02:00
"margin_y = .2\n",
"margin_x=0\n",
"arr_width= 1 - margin_y\n",
"\n",
"def cb_str(inst: TrCallbackInstance):\n",
" cb: TrCallbackObject = inst.callback_obj\n",
" if not cb:\n",
" return None\n",
" ret_str = f\"- {inst.duration*1e3:07.3f}ms \"\n",
" #if cb.callback_symbol:\n",
" # ret_str = repr(sanitize(cb.callback_symbol.symbol))\n",
"\n",
" match cb.owner:\n",
" case TrSubscriptionObject(subscription=sub):\n",
" sub: TrSubscription\n",
" ret_str = f\"{ret_str}{sub.node.path if sub.node else None} <- {sub.topic_name}\"\n",
" case TrTimer(period=p, node=node):\n",
" p: int\n",
" node: TrNode\n",
" ret_str = f\"{ret_str}{node.path if node else None} <- @{1/(p*1e-9):.2f}Hz\"\n",
" return ret_str\n",
"\n",
"\n",
"def ts_str(inst, prev):\n",
" return f\"{(inst.timestamp - prev)*1e3:+09.3f}ms\"\n",
"\n",
"def bw_str(bw):\n",
" return bytes_str(bw['mean'])\n",
"\n",
"def trunc_chars(string, w, e2e):\n",
" if w < e2e * .005:\n",
" return \"\"\n",
" n_chars = max(math.floor(w / (e2e * .17) * 65) - 5, 0)\n",
" if n_chars < 4:\n",
" return \"\"\n",
"\n",
" return \"...\" + string[-n_chars:] if n_chars < len(string) else string\n",
"\n",
"#e2e_paths = sorted(e2e_paths, key=lambda path: path[-1].timestamp - path[0].timestamp, reverse=True)\n",
"#for y, e2e_path in reversed(list(enumerate(e2e_paths))):\n",
"# last_pub_ts = None\n",
"# last_cb_end = None\n",
"# print(f\"=== {y}:\")\n",
"# for inst in e2e_path:\n",
"\n",
2022-09-14 18:27:41 +02:00
"#tree = sort_subtree(get_relevant_tree(tree, _leaf_filter))\n",
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"\n",
"t_start = tree.head.timestamp\n",
"t_min = t_start - e2e_lat(tree)\n",
"t_e2e = t_start - t_min\n",
"\n",
"legend_entries = {}\n",
"\n",
"def plot_subtree(subtree: DepTree, ax: plt.Axes, y_labels, y=0, next_cb_start=0):\n",
" height = fanout(subtree)\n",
" inst = subtree.head\n",
"\n",
" match inst:\n",
" case TrCallbackInstance(timestamp=t_cb, duration=d_cb):\n",
" is_sub = isinstance(inst.callback_obj.owner, TrSubscriptionObject)\n",
"\n",
" r_x = t_cb - t_start + margin_x / 2\n",
" r_y = y + margin_y / 2\n",
" r_w = max(d_cb - margin_x, 0)\n",
" r_h = height - margin_y\n",
"\n",
" r = mpatch.Rectangle((r_x, r_y), r_w, r_h,\n",
" ec=\"cadetblue\" if is_sub else \"indianred\", fc=\"lightblue\" if is_sub else \"lightcoral\", zorder=9000)\n",
" ax.add_artist(r)\n",
"\n",
" text = repr(sanitize(inst.callback_obj.callback_symbol.symbol)) if inst.callback_obj and inst.callback_obj.callback_symbol else \"??\"\n",
" text = trunc_chars(text, r_w, t_e2e)\n",
" if text:\n",
" ax.text(r_x + r_w / 2, r_y + r_h / 2, text, ha=\"center\", va=\"center\", backgroundcolor=(1,1,1,.5), zorder=11000)\n",
"\n",
" if is_sub and \"Subscription CB\" not in legend_entries:\n",
" legend_entries[\"Subscription CB\"] = r\n",
" elif not is_sub and \"Timer CB\" not in legend_entries:\n",
" legend_entries[\"Timer CB\"] = r\n",
"\n",
" if next_cb_start is not None:\n",
" r_x = t_cb - t_start + d_cb - margin_x / 2\n",
" r_y = y + .5 - arr_width/2\n",
" r_w = next_cb_start - (t_cb + d_cb) + margin_x\n",
" r_h = arr_width\n",
" r = mpatch.Rectangle((r_x, r_y), r_w, r_h, color=\"orange\")\n",
" ax.add_artist(r)\n",
"\n",
" if is_sub:\n",
" node = inst.callback_obj.owner.subscription.node\n",
" else:\n",
" node = inst.callback_obj.owner.node\n",
" text = node.path\n",
"\n",
" text = trunc_chars(text, r_w, t_e2e)\n",
" if text:\n",
" ax.text(r_x + r_w / 2, r_y + r_h / 2, text, ha=\"center\", va=\"center\", backgroundcolor=(1,1,1,.5), zorder=11000)\n",
"\n",
" if \"Idle\" not in legend_entries:\n",
" legend_entries[\"Idle\"] = r\n",
"\n",
" next_cb_start = t_cb\n",
" case TrPublishInstance(timestamp=t_pub, publisher=pub):\n",
" if not subtree.deps:\n",
" y_labels.append(pub.topic_name if pub else None)\n",
"\n",
" scatter = ax.scatter(t_pub - t_start, y+.5, color=\"cyan\", marker=\".\", zorder=10000)\n",
"\n",
" if \"Publication\" not in legend_entries:\n",
" legend_entries[\"Publication\"] = scatter\n",
"\n",
" if next_cb_start is not None:\n",
" r_x = t_pub - t_start\n",
" r_y = y + .5 - arr_width/2\n",
" r_w = max(next_cb_start - t_pub + margin_x / 2, 0)\n",
" r = mpatch.Rectangle((r_x, r_y), r_w, arr_width, color=\"lightgreen\")\n",
" ax.add_artist(r)\n",
" if pub:\n",
" text = pub.topic_name\n",
" text = trunc_chars(text, r_w, t_e2e)\n",
" if text:\n",
" ax.text(r_x + r_w / 2, r_y + arr_width / 2, text, ha=\"center\", va=\"center\", backgroundcolor=(1,1,1,.5), zorder=11000)\n",
"\n",
" if \"DDS\" not in legend_entries:\n",
" legend_entries[\"DDS\"] = r\n",
"\n",
2022-09-14 14:08:47 +02:00
" topic_stats = msg_sizes.get(pub.topic_name) if BW_ENABLED else None\n",
2022-08-29 22:17:52 +02:00
" if topic_stats:\n",
" size_str = bw_str(topic_stats)\n",
" ax.text(r_x + r_w / 2, r_y + arr_width + margin_y, size_str, ha=\"center\", backgroundcolor=(1,1,1,.5), zorder=11000)\n",
" else:\n",
" print(\"[WARN] Tried to publish to another PublishInstance\")\n",
" next_cb_start = None\n",
"\n",
" acc_fanout = 0\n",
" for dep in subtree.deps:\n",
" acc_fanout += plot_subtree(dep, ax, y_labels, y + acc_fanout, next_cb_start)\n",
" return height\n",
"\n",
"\n",
"\n",
"fig, ax = plt.subplots(figsize=(36, 20), num=\"path_viz\")\n",
"ax.set_ylim(0, len(e2es))\n",
"\n",
"y_labels = []\n",
"plot_subtree(tree, ax, y_labels)\n",
"\n",
"tree_e2e = e2e_lat(tree)\n",
"plot_margin_x = .01 * tree_e2e\n",
"ax.set_xlim(-tree_e2e - plot_margin_x, plot_margin_x)\n",
"ax.set_yticks(np.array(range(len(y_labels))) + .5, y_labels)\n",
2022-09-12 19:24:26 +02:00
"ax.set_title(f\"Timestep {E2E_PLOT_TIMESTAMP}: {(tree.head.timestamp - trees[0].head.timestamp):10.6f}s\")\n",
2022-08-29 22:17:52 +02:00
"ax.set_xlabel(\"Time relative to output message [s]\")\n",
"ax.set_ylabel(\"Start topic\")\n",
"\n",
"labels, handles = list(zip(*legend_entries.items()))\n",
"ax.legend(handles, labels)\n",
"print(len(y_labels))"
2022-09-14 18:27:41 +02:00
]
2022-08-29 22:17:52 +02:00
},
2022-09-09 13:52:28 +02:00
{
"cell_type": "markdown",
2022-09-14 18:27:41 +02:00
"metadata": {
"pycharm": {
"name": "#%% md\n"
}
},
2022-09-09 13:52:28 +02:00
"source": [
"# Find Top Critical Paths\n",
"\n",
"For each message tree, find its critical path and runner-up candidates. Then, for the whole timeseries, find the top critical paths by occurence count.\n",
"Critical paths are abstracted by their E2E-latency and a list of passed CBs and topics.\n"
2022-09-14 18:27:41 +02:00
]
2022-09-09 13:52:28 +02:00
},
{
"cell_type": "code",
2022-09-14 18:27:41 +02:00
"execution_count": 36,
"metadata": {
"pycharm": {
"name": "#%%\n"
}
},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"0\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"100%|█████████████████████████████████████████████| 1/1 [00:00<00:00, 83.44it/s]"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"======== 1x: 5092.585ms\n",
" -> \u001b[35m101.022ms\u001b[0m /map/vector_map\n",
" -> \u001b[33m42.454ms\u001b[0m void(mission_planner::MissionPlannerLanelet2)(autoware_auto_mapping_msgs::msg::HADMapBin)\n",
" -> \u001b[32m1.466ms\u001b[0m void(mission_planner::MissionPlanner)(geometry_msgs::msg::PoseStamped)\n",
" -> \u001b[32m1.153ms\u001b[0m /planning/mission_planning/route\n",
" -> \u001b[32m0.050ms\u001b[0m void(behavior_path_planner::BehaviorPathPlannerNode)(autoware_auto_planning_msgs::msg::HADMapRoute)\n",
" -> \u001b[32m3.374ms\u001b[0m void(behavior_path_planner::BehaviorPathPlannerNode)()\n",
" -> \u001b[32m2.681ms\u001b[0m /planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id\n",
" -> \u001b[32m8.293ms\u001b[0m void(behavior_velocity_planner::BehaviorVelocityPlannerNode)(autoware_auto_planning_msgs::msg::PathWithLaneId)\n",
" -> \u001b[32m2.795ms\u001b[0m /planning/scenario_planning/lane_driving/behavior_planning/path\n",
" -> \u001b[32m1.711ms\u001b[0m void(ObstacleAvoidancePlanner)(autoware_auto_planning_msgs::msg::Path)\n",
" -> \u001b[32m0.173ms\u001b[0m /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/trajectory\n",
" -> \u001b[32m0.580ms\u001b[0m void(motion_planning::ObstacleStopPlannerNode)(autoware_auto_planning_msgs::msg::Trajectory)\n",
" -> \u001b[32m0.776ms\u001b[0m /planning/scenario_planning/lane_driving/trajectory\n",
" -> \u001b[32m0.005ms\u001b[0m void(ScenarioSelectorNode)(autoware_auto_planning_msgs::msg::Trajectory)\n",
" -> \u001b[32m0.877ms\u001b[0m /planning/scenario_planning/scenario_selector/trajectory\n",
" -> \u001b[32m11.947ms\u001b[0m void(motion_velocity_smoother::MotionVelocitySmootherNode)(autoware_auto_planning_msgs::msg::Trajectory)\n",
" -> \u001b[32m0.248ms\u001b[0m /planning/scenario_planning/trajectory\n",
" -> \u001b[32m0.001ms\u001b[0m void(autoware::motion::control::trajectory_follower_nodes::Controller)(autoware_auto_planning_msgs::msg::Trajectory)\n",
" -> \u001b[32m2.186ms\u001b[0m void(autoware::motion::control::trajectory_follower_nodes::Controller)()\n",
" -> \u001b[32m0.000ms\u001b[0m /control/trajectory_follower/control_cmd\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"\n",
"/tmp/ipykernel_9555/3745443004.py:37: FutureWarning: The frame.append method is deprecated and will be removed from pandas in a future version. Use pandas.concat instead.\n",
" out_df.append(path_records)\n"
]
}
],
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"source": [
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"%%skip_if_false E2E_ENABLED\n",
"\n",
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"from termcolor import colored\n",
"from tqdm import tqdm\n",
"from matching.subscriptions import sanitize\n",
"\n",
"critical_paths = {}\n",
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"print(len(relevant_trees))\n",
"for tree in tqdm(trees):\n",
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" crit = critical_path(tree)\n",
"\n",
" def _owner(inst):\n",
" match inst:\n",
" case TrCallbackInstance(callback_obj=cb_obj):\n",
" cb_obj: TrCallbackObject\n",
" if cb_obj and cb_obj.callback_symbol:\n",
" sym = repr(sanitize(cb_obj.callback_symbol.symbol))\n",
" else:\n",
" sym = str(cb_obj.id)\n",
" return sym\n",
" case TrPublishInstance(publisher=pub):\n",
" pub: TrPublisher\n",
" topic = pub.topic_name\n",
" return topic\n",
" case _:\n",
" raise ValueError()\n",
"\n",
" key = tuple(map(_owner, crit[::-1]))\n",
" if key not in critical_paths:\n",
" critical_paths[key] = []\n",
" critical_paths[key].append(crit)\n",
"\n",
"items = list(critical_paths.items())\n",
"items.sort(key=lambda pair: len(pair[1]), reverse=True)\n",
"\n",
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"out_df = pd.DataFrame(columns=[\"path\", \"timestamp\", \"e2e_latency\"])\n",
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"for key, paths in items:\n",
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" path_records = [(\" -> \".join(key), p[0].timestamp, p[0].timestamp - p[-1].timestamp) for p in paths]\n",
" out_df.append(path_records)\n",
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" print(f\"======== {len(paths)}x: {sum(map(lambda p: p[0].timestamp - p[-1].timestamp, paths))/len(paths)*1000:.3f}ms\")\n",
" paths_durations = []\n",
" for path in paths:\n",
" next_inst = None\n",
" durations = []\n",
" for inst in path:\n",
" match inst:\n",
" case TrCallbackInstance(timestamp=t, duration=d):\n",
" if not next_inst:\n",
" durations.append(d)\n",
" else:\n",
" durations.append(min(d, next_inst.timestamp - t))\n",
" case TrPublishInstance(timestamp=t):\n",
" if not next_inst:\n",
" durations.append(0.0)\n",
" else:\n",
" durations.append(next_inst.timestamp - t)\n",
" case _:\n",
" raise ValueError()\n",
" next_inst = inst\n",
" paths_durations.append(durations)\n",
"\n",
" durations = list(map(lambda l: sum(l) / len(l), zip(*paths_durations)))[::-1]\n",
" assert len(durations) == len(key)\n",
" perc = np.percentile(durations, [70, 90, 95, 100])\n",
" colors = [\"green\", \"yellow\", \"red\", \"magenta\"]\n",
" for part, duration in zip(key, durations):\n",
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" E2E_PLOT_TIMESTAMP = 0\n",
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" for j, p in enumerate(perc):\n",
" if duration < p:\n",
" break\n",
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" E2E_PLOT_TIMESTAMP = j\n",
" dur_str = colored(f\"{duration * 1000 :>.3f}ms\", colors[E2E_PLOT_TIMESTAMP])\n",
" print(f\" -> {dur_str} {part}\")\n",
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"\n",
"out_df.to_csv(os.path.join(OUT_PATH, \"e2e.csv\"), sep=\"\\t\")"
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]
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},
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{
"cell_type": "code",
"execution_count": null,
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"metadata": {
"pycharm": {
"name": "#%%\n"
}
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},
"outputs": [],
"source": []
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}
],
"metadata": {
"interpreter": {
2022-06-28 10:06:42 +02:00
"hash": "e7370f93d1d0cde622a1f8e1c04877d8463912d04d973331ad4851f04de6915a"
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},
"kernelspec": {
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"display_name": "Python 3 (ipykernel)",
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"language": "python",
"name": "python3"
},
"language_info": {
"codemirror_mode": {
"name": "ipython",
"version": 3
},
"file_extension": ".py",
"mimetype": "text/x-python",
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
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"version": "3.10.4"
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}
},
"nbformat": 4,
"nbformat_minor": 2
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}
