diff --git a/latency_graph/latency_graph.py b/latency_graph/latency_graph.py
index bc05506..c5a74ea 100644
--- a/latency_graph/latency_graph.py
+++ b/latency_graph/latency_graph.py
@@ -124,8 +124,8 @@ def _get_cb_topic_deps(nodes_to_cbs: Dict[TrNode, Set[TrCallbackObject]]):
elif cb.owner is None:
continue
else:
- raise RuntimeError(
- f"Callback owners other than timers/subscriptions cannot be handled: {cb.owner}")
+ print(f" [WARN] Callback owners other than timers/subscriptions cannot be handled: {cb.owner}")
+ continue
for topic in dep_topics:
if topic not in cbs_subbed_to_topic:
diff --git a/trace-analysis.ipynb b/trace-analysis.ipynb
index 26cea8a..4fdf9cc 100644
--- a/trace-analysis.ipynb
+++ b/trace-analysis.ipynb
@@ -2,7 +2,7 @@
"cells": [
{
"cell_type": "code",
- "execution_count": null,
+ "execution_count": 1,
"metadata": {
"pycharm": {
"name": "#%%\n"
@@ -29,7 +29,7 @@
},
{
"cell_type": "code",
- "execution_count": null,
+ "execution_count": 43,
"metadata": {
"pycharm": {
"name": "#%%\n"
@@ -53,12 +53,12 @@
"\n",
"# The path to the build folder of a ROS2 workspace that contains the\n",
"# tracetools_read and tracetools_analysis folders.\n",
- "TRACING_WS_BUILD_PATH = \"../autoware/build\"\n",
+ "TRACING_WS_BUILD_PATH = \"../src/build\"\n",
"\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",
- "TR_PATH = \"data/awsim-trace/ust\"\n",
+ "TR_PATH = \"../sa-tracing-results/140922/01/ust\"\n",
"\n",
"# Path to the folder all artifacts from this notebook are saved to.\n",
"# This entails plots as well as data tables.\n",
@@ -82,7 +82,7 @@
"# 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",
- "DFG_PLOT = True\n",
+ "DFG_PLOT = False\n",
"\n",
"# The maximum node namespace hierarchy level to be plotted.\n",
"# Top-level (1): e.g. /sensing, /control, etc.\n",
@@ -101,10 +101,10 @@
"# 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",
- "E2E_PLOT = True\n",
+ "E2E_PLOT = False\n",
"# 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",
- "E2E_PLOT_TIMESTAMP = 3900\n",
+ "E2E_PLOT_TIMESTAMP = 200\n",
"# 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",
@@ -113,10 +113,12 @@
"\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",
- "E2E_OUTPUT_TOPIC_PATTERNS = [r\"^/control/trajectory_follower/control_cmd\"]\n",
+ "E2E_OUTPUT_TOPIC_PATTERNS = [r\"^/control/command/control_cmd\"]\n",
+ "#E2E_OUTPUT_TOPIC_PATTERNS = [r\"^/system/emergency/control_cmd\"]\n",
"# 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",
- "E2E_INPUT_TOPIC_PATTERNS = [\"/vehicle/status/\", \"/sensing/imu\"]\n",
+ "E2E_INPUT_TOPIC_PATTERNS = [\"/vehicle/status/\", \"/perception/\"]\n",
+ "#E2E_INPUT_TOPIC_PATTERNS = [\"/vehicle/\", \"/sensing/\", \"/localization/\", \"planning\"]\n",
"\n",
"\n",
"# This code overrides the above constants with environment variables, do not edit.\n",
@@ -143,7 +145,12 @@
},
{
"cell_type": "code",
- "execution_count": null,
+ "execution_count": 3,
+ "metadata": {
+ "pycharm": {
+ "name": "#%%\n"
+ }
+ },
"outputs": [],
"source": [
"from clang_interop.cl_types import ClContext\n",
@@ -158,30 +165,37 @@
"\n",
"from tracing_interop.tr_types import TrTimer, TrTopic, TrPublisher, TrPublishInstance, TrCallbackInstance, \\\n",
"TrCallbackSymbol, TrCallbackObject, TrSubscriptionObject, TrContext"
- ],
- "metadata": {
- "collapsed": false,
- "pycharm": {
- "name": "#%%\n"
- }
- }
+ ]
},
{
"cell_type": "markdown",
- "source": [
- "# Organize Trace Data"
- ],
"metadata": {
- "collapsed": false,
"pycharm": {
"name": "#%% md\n"
}
- }
+ },
+ "source": [
+ "# Organize Trace Data"
+ ]
},
{
"cell_type": "code",
- "execution_count": null,
- "outputs": [],
+ "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"
+ ]
+ }
+ ],
"source": [
"def _load_traces():\n",
" file = load_file(TR_PATH)\n",
@@ -200,30 +214,86 @@
" globals()[name] = getattr(_tracing_context, name)\n",
"\n",
"print(\"Done.\")"
- ],
- "metadata": {
- "collapsed": false,
- "pycharm": {
- "name": "#%%\n"
- }
- }
- },
- {
- "cell_type": "markdown",
- "source": [
- "# E2E Latency Calculation"
- ],
- "metadata": {
- "collapsed": false,
- "pycharm": {
- "name": "#%% md\n"
- }
- }
+ ]
},
{
"cell_type": "code",
- "execution_count": null,
- "outputs": [],
+ "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"
+ ]
+ }
+ ],
+ "source": [
+ "for t in topics:\n",
+ " if \"control\" in t.name:\n",
+ " print(t.name)"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {
+ "pycharm": {
+ "name": "#%% md\n"
+ }
+ },
+ "source": [
+ "# E2E Latency Calculation"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "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"
+ ]
+ }
+ ],
"source": [
"from latency_graph import latency_graph as lg\n",
"\n",
@@ -231,18 +301,5693 @@
" return lg.LatencyGraph(_tracing_context)\n",
"\n",
"lat_graph = cached(\"lat_graph\", _make_latency_graph, [TR_PATH])"
- ],
- "metadata": {
- "collapsed": false,
- "pycharm": {
- "name": "#%%\n"
- }
- }
+ ]
},
{
"cell_type": "code",
- "execution_count": null,
- "outputs": [],
+ "execution_count": 6,
+ "metadata": {
+ "pycharm": {
+ "name": "#%%\n"
+ }
+ },
+ "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"
+ ]
+ },
+ {
+ "data": {
+ "image/svg+xml": [
+ "\n",
+ "\n",
+ "\n",
+ "\n",
+ "\n"
+ ],
+ "text/plain": [
+ ""
+ ]
+ },
+ "execution_count": 6,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
"source": [
"%%skip_if_false DFG_ENABLED\n",
"%%skip_if_false DFG_PLOT\n",
@@ -331,18 +6076,1377 @@
"g.render(\"latency_graph.svg\")\n",
"\n",
"g"
- ],
- "metadata": {
- "collapsed": false,
- "pycharm": {
- "name": "#%%\n"
- }
- }
+ ]
},
{
"cell_type": "code",
- "execution_count": null,
- "outputs": [],
+ "execution_count": 7,
+ "metadata": {
+ "pycharm": {
+ "name": "#%%\n"
+ }
+ },
+ "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/map_based_prediction, /rosbag2_player\n",
+ "/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",
+ "/simulation/concealer /planning/scenario_planning/motion_velocity_smoother 1\n",
+ "/simulation/concealer /planning/scenario_planning/scenario_selector 1\n",
+ "/simulation/concealer /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner 1\n",
+ "/simulation/concealer /control/trajectory_follower/lane_departure_checker_node 1\n",
+ "/simulation/concealer /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner 1\n",
+ "/simulation/concealer /planning/scenario_planning/parking/freespace_planner 1\n",
+ "/planning/scenario_planning/scenario_selector /planning/scenario_planning/motion_velocity_smoother 1\n",
+ "/control/operation_mode_transition_manager /control/vehicle_cmd_gate 1\n",
+ "/planning/scenario_planning/motion_velocity_smoother /planning/planning_diagnostics/planning_error_monitor 1\n",
+ "/planning/scenario_planning/motion_velocity_smoother /control/trajectory_follower/controller_node_exe 1\n",
+ "/planning/scenario_planning/motion_velocity_smoother /control/trajectory_follower/lane_departure_checker_node 1\n",
+ "/planning/scenario_planning/motion_velocity_smoother /simulation/concealer 1\n",
+ "/planning/scenario_planning/motion_velocity_smoother /control/operation_mode_transition_manager 1\n",
+ "/planning/scenario_planning/motion_velocity_smoother /autoware_api/internal/iv_msgs 1\n",
+ "/planning/scenario_planning/motion_velocity_smoother /awapi/awapi_awiv_adapter_node 1\n",
+ "/planning/mission_planning/mission_planner /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner 1\n",
+ "/planning/mission_planning/mission_planner /control/trajectory_follower/lane_departure_checker_node 1\n",
+ "/planning/mission_planning/mission_planner /system/ad_service_state_monitor 1\n",
+ "/planning/mission_planning/mission_planner /planning/scenario_planning/scenario_selector 1\n",
+ "/planning/mission_planning/mission_planner /autoware_api/internal/route 1\n",
+ "/planning/mission_planning/mission_planner /planning/scenario_planning/parking/freespace_planner 1\n",
+ "/planning/mission_planning/mission_planner /planning/mission_planning/goal_pose_visualizer 1\n",
+ "/autoware_api/external/operator /autoware_api/external/start 1\n",
+ "/control/trajectory_follower/controller_node_exe /control/trajectory_follower/lane_departure_checker_node 1\n",
+ "/control/shift_decider /control/vehicle_cmd_gate 1\n",
+ "/control/vehicle_cmd_gate /system/system_error_monitor 2\n",
+ "/control/vehicle_cmd_gate /autoware_api/internal/operator 2\n",
+ "/control/vehicle_cmd_gate /control/external_cmd_converter 2\n",
+ "/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner 1\n",
+ "/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner 1\n",
+ "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner 1\n",
+ "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner /simulation/concealer 1\n",
+ "/system/emergency_handler /simulation/concealer 1\n",
+ "/system/emergency_handler /awapi/awapi_awiv_adapter_node 1\n",
+ "/system/emergency_handler /autoware_api/internal/iv_msgs 1\n",
+ "/system/emergency_handler /autoware_api/external/fail_safe_state 1\n",
+ "/autoware_api/internal/iv_msgs /awapi/awapi_awiv_adapter_node 1\n",
+ "/system/system_error_monitor /system/emergency_handler 2\n",
+ "/system/system_error_monitor /awapi/awapi_awiv_adapter_node 1\n"
+ ]
+ },
+ {
+ "data": {
+ "image/svg+xml": [
+ "\n",
+ "\n",
+ "\n",
+ "\n",
+ "\n"
+ ],
+ "text/plain": [
+ ""
+ ]
+ },
+ "execution_count": 7,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
"source": [
"%%skip_if_false DFG_ENABLED\n",
"%%skip_if_false DFG_PLOT\n",
@@ -463,17 +7567,16 @@
"g.render(\"level_graph.svg\")\n",
"\n",
"g"
- ],
- "metadata": {
- "collapsed": false,
- "pycharm": {
- "name": "#%%\n"
- }
- }
+ ]
},
{
"cell_type": "code",
- "execution_count": null,
+ "execution_count": 51,
+ "metadata": {
+ "pycharm": {
+ "name": "#%%\n"
+ }
+ },
"outputs": [],
"source": [
"%%skip_if_false E2E_ENABLED\n",
@@ -598,16 +7701,25 @@
" return dep_inst\n",
"\n",
"\n",
- "def get_dep_tree(inst: TrPublishInstance | TrCallbackInstance, lvl=0, visited_topics=None, is_dep_cb=False):\n",
+ "def get_dep_tree(inst: TrPublishInstance | TrCallbackInstance, lvl=0, visited_topics=None, is_dep_cb=False, start_time=None):\n",
" if visited_topics is None:\n",
" visited_topics = set()\n",
- "\n",
+ " \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",
" 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",
+ " \n",
+ " if pub.node and pub.node.name and \"concealer\" in pub.node.name:\n",
+ " return None\n",
"\n",
" visited_topics.add(pub.topic_name)\n",
" deps = [get_msg_dep_cb(inst)]\n",
@@ -616,67 +7728,96 @@
" if not is_dep_cb:\n",
" deps += inst_get_dep_insts(cb_inst)\n",
" children_are_dep_cbs = True\n",
+ " 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",
" case _:\n",
+ " return None\n",
" raise TypeError(f\"Expected inst to be of type TrPublishInstance or TrCallbackInstance, got {type(inst).__name__}\")\n",
- "\n",
- " # print(\"Rec level\", lvl)\n",
+ " #print(\"Rec level\", lvl)\n",
" deps = [dep for dep in deps if dep is not None]\n",
- " deps = [get_dep_tree(dep, lvl + 1, set(visited_topics), is_dep_cb=children_are_dep_cbs) for dep in deps]\n",
+ " deps = [get_dep_tree(dep, lvl + 1, set(visited_topics), children_are_dep_cbs, start_time) for dep in deps]\n",
" deps = [dep for dep in deps if dep is not None]\n",
" return DepTree(inst, deps)"
- ],
- "metadata": {
- "collapsed": false,
- "pycharm": {
- "name": "#%%\n"
- }
- }
+ ]
},
{
"cell_type": "code",
"execution_count": null,
- "outputs": [],
+ "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 [00:003d}: N\", node.path)\n",
"# print(\"==================\")\n"
- ],
- "metadata": {
- "collapsed": false,
- "pycharm": {
- "name": "#%%\n"
- }
- }
+ ]
},
{
"cell_type": "code",
- "execution_count": null,
- "outputs": [],
+ "execution_count": 31,
+ "metadata": {
+ "pycharm": {
+ "name": "#%%\n"
+ }
+ },
+ "outputs": [
+ {
+ "data": {
+ "text/plain": [
+ "'Skipped (evaluated E2E_PLOT to False)'"
+ ]
+ },
+ "execution_count": 31,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
"source": [
"%%skip_if_false E2E_ENABLED\n",
"%%skip_if_false E2E_PLOT\n",
@@ -901,17 +8050,16 @@
"ax.set_ylabel(\"End-to-End latency [s]\")\n",
"ax2.set_ylabel(\"End-to-End path length\")\n",
"None"
- ],
- "metadata": {
- "collapsed": false,
- "pycharm": {
- "name": "#%%\n"
- }
- }
+ ]
},
{
"cell_type": "code",
- "execution_count": null,
+ "execution_count": 32,
+ "metadata": {
+ "pycharm": {
+ "name": "#%%\n"
+ }
+ },
"outputs": [],
"source": [
"%%skip_if_false E2E_ENABLED\n",
@@ -964,19 +8112,30 @@
" return False\n",
"\n",
"\n",
- "relevant_trees = [get_relevant_tree(tree, _leaf_filter) for tree in trees]"
- ],
- "metadata": {
- "collapsed": false,
- "pycharm": {
- "name": "#%%\n"
- }
- }
+ "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": null,
- "outputs": [],
+ "execution_count": 33,
+ "metadata": {
+ "pycharm": {
+ "name": "#%%\n"
+ }
+ },
+ "outputs": [
+ {
+ "data": {
+ "text/plain": [
+ "'Skipped (evaluated E2E_PLOT to False)'"
+ ]
+ },
+ "execution_count": 33,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
"source": [
"%%skip_if_false E2E_ENABLED\n",
"%%skip_if_false E2E_PLOT\n",
@@ -1059,18 +8218,28 @@
"ax_rel.legend()\n",
"\n",
"None"
- ],
- "metadata": {
- "collapsed": false,
- "pycharm": {
- "name": "#%%\n"
- }
- }
+ ]
},
{
"cell_type": "code",
- "execution_count": null,
- "outputs": [],
+ "execution_count": 34,
+ "metadata": {
+ "pycharm": {
+ "name": "#%%\n"
+ }
+ },
+ "outputs": [
+ {
+ "data": {
+ "text/plain": [
+ "'Skipped (evaluated E2E_PLOT to False)'"
+ ]
+ },
+ "execution_count": 34,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
"source": [
"%%skip_if_false E2E_ENABLED\n",
"%%skip_if_false E2E_PLOT\n",
@@ -1080,15 +8249,15 @@
"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",
- "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",
+ "#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",
"\n",
- "ax2 = ax.twinx()\n",
- "ax2.hist(timestep_mags, 200)\n",
- "ax2.set_ylim(0, ax2.get_ylim()[1])\n",
+ "#ax2 = ax.twinx()\n",
+ "#ax2.hist(timestep_mags, 200)\n",
+ "#ax2.set_ylim(0, ax2.get_ylim()[1])\n",
"\n",
"ax.set_title(\"Time Distribution for E2E Breakdown\")\n",
"ax.set_xlabel(\"Time [s]\")\n",
@@ -1098,18 +8267,28 @@
"ax.legend()\n",
"\n",
"None"
- ],
- "metadata": {
- "collapsed": false,
- "pycharm": {
- "name": "#%%\n"
- }
- }
+ ]
},
{
"cell_type": "code",
- "execution_count": null,
- "outputs": [],
+ "execution_count": 35,
+ "metadata": {
+ "pycharm": {
+ "name": "#%%\n"
+ }
+ },
+ "outputs": [
+ {
+ "data": {
+ "text/plain": [
+ "'Skipped (evaluated E2E_PLOT to False)'"
+ ]
+ },
+ "execution_count": 35,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
"source": [
"%%skip_if_false E2E_ENABLED\n",
"%%skip_if_false E2E_PLOT\n",
@@ -1168,7 +8347,7 @@
"# print(f\"=== {y}:\")\n",
"# for inst in e2e_path:\n",
"\n",
- "tree = sort_subtree(get_relevant_tree(tree, _leaf_filter))\n",
+ "#tree = sort_subtree(get_relevant_tree(tree, _leaf_filter))\n",
"\n",
"t_start = tree.head.timestamp\n",
"t_min = t_start - e2e_lat(tree)\n",
@@ -1281,33 +8460,82 @@
"labels, handles = list(zip(*legend_entries.items()))\n",
"ax.legend(handles, labels)\n",
"print(len(y_labels))"
- ],
- "metadata": {
- "collapsed": false,
- "pycharm": {
- "name": "#%%\n"
- }
- }
+ ]
},
{
"cell_type": "markdown",
+ "metadata": {
+ "pycharm": {
+ "name": "#%% md\n"
+ }
+ },
"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"
- ],
- "metadata": {
- "collapsed": false,
- "pycharm": {
- "name": "#%% md\n"
- }
- }
+ ]
},
{
"cell_type": "code",
- "execution_count": null,
- "outputs": [],
+ "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"
+ ]
+ }
+ ],
"source": [
"%%skip_if_false E2E_ENABLED\n",
"\n",
@@ -1316,8 +8544,8 @@
"from matching.subscriptions import sanitize\n",
"\n",
"critical_paths = {}\n",
- "\n",
- "for tree in tqdm(relevant_trees):\n",
+ "print(len(relevant_trees))\n",
+ "for tree in tqdm(trees):\n",
" crit = critical_path(tree)\n",
"\n",
" def _owner(inst):\n",
@@ -1384,25 +8612,18 @@
" print(f\" -> {dur_str} {part}\")\n",
"\n",
"out_df.to_csv(os.path.join(OUT_PATH, \"e2e.csv\"), sep=\"\\t\")"
- ],
- "metadata": {
- "collapsed": false,
- "pycharm": {
- "name": "#%%\n"
- }
- }
+ ]
},
{
"cell_type": "code",
"execution_count": null,
- "outputs": [],
- "source": [],
"metadata": {
- "collapsed": false,
"pycharm": {
"name": "#%%\n"
}
- }
+ },
+ "outputs": [],
+ "source": []
}
],
"metadata": {
@@ -1410,7 +8631,7 @@
"hash": "e7370f93d1d0cde622a1f8e1c04877d8463912d04d973331ad4851f04de6915a"
},
"kernelspec": {
- "display_name": "Python 3.8.10 64-bit",
+ "display_name": "Python 3 (ipykernel)",
"language": "python",
"name": "python3"
},
@@ -1424,9 +8645,9 @@
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
- "version": "3.8.10"
+ "version": "3.10.4"
}
},
"nbformat": 4,
"nbformat_minor": 2
-}
\ No newline at end of file
+}