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Refactorings, better console output.

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* Removed spam-like warnings (mostly replaced by printing a single warning counter)
* Removed inst_runtime_interval() from latency_graph.py as it was out of that file's responsibilities. Moved into TrCallbackInstance directly
* Fixed coloring of latency graph (planning was misspelled)
This commit is contained in:
Maximilian Schmeller 2022-10-07 15:35:34 +09:00
parent e9a00d51c9
commit 130c99e56f
3 changed files with 106 additions and 75 deletions
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37
latency_graph/latency_graph.py
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@ -1,8 +1,10 @@
from bisect import bisect_left, bisect_right
from collections import defaultdict
from dataclasses import dataclass
from itertools import combinations
from multiprocessing import Pool
from typing import Optional, Set, List, Iterable, Dict, Tuple
from functools import cache
import numpy as np
from tqdm import tqdm
@ -15,20 +17,15 @@ from tracing_interop.tr_types import TrContext, TrCallbackObject, TrCallbackSymb
TOPIC_FILTERS = ["/parameter_events", "/tf_static", "/robot_description", "diagnostics", "/rosout"]
@cache
def _get_cb_owner_node(cb: TrCallbackObject) -> TrNode | None:
match cb.owner:
case TrTimer(node=node):
owner_node = node
return node
case TrSubscriptionObject(subscription=sub):
owner_node = sub.node
return sub.node
case _:
owner_node = None
if not owner_node:
print("[WARN] CB has no owners")
return None
return owner_node
return None
def _hierarchize(lg_nodes: Iterable['LGHierarchyLevel']):
@ -54,12 +51,6 @@ def _hierarchize(lg_nodes: Iterable['LGHierarchyLevel']):
return base
def inst_runtime_interval(cb_inst: TrCallbackInstance):
start_time = cb_inst.timestamp
end_time = start_time + cb_inst.duration
return start_time, end_time
def _get_publishing_cbs(cbs: Set[TrCallbackObject], pub: TrPublisher):
"""
Counts number of publication instances that lie within one of the cb_intervals.
@ -68,7 +59,7 @@ def _get_publishing_cbs(cbs: Set[TrCallbackObject], pub: TrPublisher):
pub_cb_overlaps = {i: set() for i in range(len(pub_insts))}
for cb in cbs:
cb_intervals = map(inst_runtime_interval, cb.callback_instances)
cb_intervals = map(lambda inst: (inst.t_start, inst.t_end), cb.callback_instances)
for t_start, t_end in cb_intervals:
i_overlap_begin = bisect_left(pub_insts, t_start, key=lambda x: x.timestamp)
i_overlap_end = bisect_right(pub_insts, t_end, key=lambda x: x.timestamp)
@ -77,14 +68,20 @@ def _get_publishing_cbs(cbs: Set[TrCallbackObject], pub: TrPublisher):
pub_cbs = set()
cb_cb_overlaps = set()
cb_less_pubs = defaultdict(lambda: 0)
for i, i_cbs in pub_cb_overlaps.items():
if not i_cbs:
print(f"[WARN] Publication on {pub.topic_name} without corresponding callback!")
cb_less_pubs[pub.topic_name] += 1
elif len(i_cbs) == 1:
pub_cbs.update(i_cbs)
else: # Multiple CBs in i_cbs
cb_cb_overlaps.update(iter(combinations(i_cbs, 2)))
if cb_less_pubs:
print(f"[ENTKÄFERN] There are {len(cb_less_pubs)} topics which have publications from untracked callbacks:")
for topic_name, count in cb_less_pubs.items():
print(f"--{pub.topic_name:.<120s}: {count:>20d} ownerless publications")
for cb1, cb2 in cb_cb_overlaps:
cb1_subset_of_cb2 = True
cb2_subset_of_cb1 = True
@ -213,13 +210,19 @@ class LatencyGraph:
# Note that nodes can also be None!
nodes_to_cbs = {}
ownerless_cbs = 0
for cb in tqdm(tr.callback_objects, desc="Finding CB nodes"):
node = _get_cb_owner_node(cb)
if node is None:
ownerless_cbs += 1
continue
if node not in nodes_to_cbs:
nodes_to_cbs[node] = set()
nodes_to_cbs[node].add(cb)
print(f"[ENTKÄFERN] {ownerless_cbs} callbacks have no owner, filtering them out.")
##################################################
# Find in/out topics for each callback
##################################################