E2E calculation per output message, plotting of E2E over time, E2E breakdown charts, E2E message flow charts
This commit is contained in:
Maximilian Schmeller
parent
241a7c3bf2
commit
8eee45c79a
7 changed files with 1212 additions and 339 deletions
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@ -1,100 +1,108 @@
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from collections import namedtuple, UserList
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from dataclasses import dataclass, field
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from functools import cached_property
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from typing import List, Dict
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import pandas as pd
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from tqdm.notebook import tqdm
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from typing import List, Dict, Optional, Set, TypeVar, Generic, Iterable
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import bisect
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from tracetools_analysis.processor.ros2 import Ros2Handler
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from tracetools_analysis.utils.ros2 import Ros2DataModelUtil
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from .utils import list_to_dict, df_to_type_list
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from .utils import df_to_type_list
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IdxItemType = TypeVar("IdxItemType")
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Timestamp = namedtuple("Timestamp", ["timestamp"])
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class Index(Generic[IdxItemType]):
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def __init__(self, items: Iterable[IdxItemType], **idx_fields):
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sort_key = lambda item: item.timestamp
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self.__items = list(items)
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self.__items.sort(key=sort_key)
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self.__indices = {}
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for idx_name, is_multi in idx_fields.items():
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index = {}
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self.__indices[idx_name] = index
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if is_multi:
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for item in self.__items:
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key = getattr(item, idx_name)
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if key not in index:
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index[key] = []
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index[key].append(item) # Also sorted since items are processed in order and only filtered here
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else:
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for item in self.__items:
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key = getattr(item, idx_name)
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if key in index:
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print(repr(ValueError(f"Duplicate key: {idx_name}={key}; old={index[key]}; new={item}")))
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index[key] = item
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def __iter__(self):
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return iter(self.__items)
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def __len__(self):
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return len(self.__items)
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def __getattr__(self, item: str):
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if not item.startswith("by_"):
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return AttributeError(
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f"Not found in index: '{item}'. Index lookups must be of the shape 'by_<index_field>'.")
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return self.__indices[item.removeprefix("by_")]
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def __getstate__(self):
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return vars(self)
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def __setstate__(self, state):
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vars(self).update(state)
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@dataclass
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class TrContext:
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nodes: Dict[int, 'TrNode']
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publishers: Dict[int, 'TrPublisher']
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subscriptions: Dict[int, 'TrSubscription']
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timers: Dict[int, 'TrTimer']
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timer_node_links: Dict[int, 'TrTimerNodeLink']
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subscription_objects: Dict[int, 'TrSubscriptionObject']
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callback_objects: Dict[int, 'TrCallbackObject']
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callback_symbols: Dict[int, 'TrCallbackSymbol']
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publish_instances: List['TrPublishInstance']
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callback_instances: List['TrCallbackInstance']
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topics: Dict[str, 'TrTopic']
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util: Ros2DataModelUtil | None
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handler: Ros2Handler | None
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def __init__(self, util: Ros2DataModelUtil, handler: Ros2Handler):
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self.util = util
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self.handler = handler
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nodes: Index['TrNode']
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publishers: Index['TrPublisher']
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subscriptions: Index['TrSubscription']
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timers: Index['TrTimer']
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timer_node_links: Index['TrTimerNodeLink']
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subscription_objects: Index['TrSubscriptionObject']
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callback_objects: Index['TrCallbackObject']
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callback_symbols: Index['TrCallbackSymbol']
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publish_instances: Index['TrPublishInstance']
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callback_instances: Index['TrCallbackInstance']
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topics: Index['TrTopic']
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def __init__(self, handler: Ros2Handler):
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print("[TrContext] Processing ROS 2 objects from traces...")
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self.nodes = list_to_dict(df_to_type_list(handler.data.nodes, TrNode, _c=self))
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print(f" ├─ Processed {len(self.nodes):<8d} nodes")
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self.publishers = list_to_dict(df_to_type_list(handler.data.rcl_publishers, TrPublisher, _c=self))
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print(f" ├─ Processed {len(self.publishers):<8d} publishers")
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self.subscriptions = list_to_dict(df_to_type_list(handler.data.rcl_subscriptions, TrSubscription, _c=self))
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print(f" ├─ Processed {len(self.subscriptions):<8d} subscriptions")
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self.timers = list_to_dict(df_to_type_list(handler.data.timers, TrTimer, _c=self))
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print(f" ├─ Processed {len(self.timers):<8d} timers")
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self.timer_node_links = list_to_dict(df_to_type_list(handler.data.timer_node_links, TrTimerNodeLink))
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print(f" ├─ Processed {len(self.timer_node_links):<8d} timer-node links")
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self.subscription_objects = list_to_dict(
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df_to_type_list(handler.data.subscription_objects, TrSubscriptionObject, _c=self))
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print(f" ├─ Processed {len(self.subscription_objects):<8d} subscription objects")
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self.callback_objects = list_to_dict(df_to_type_list(handler.data.callback_objects, TrCallbackObject, _c=self))
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print(f" ├─ Processed {len(self.callback_objects):<8d} callback objects")
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self.callback_symbols = list_to_dict(df_to_type_list(handler.data.callback_symbols, TrCallbackSymbol, _c=self))
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print(f" ├─ Processed {len(self.callback_symbols):<8d} callback symbols")
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self.publish_instances = df_to_type_list(handler.data.rcl_publish_instances, TrPublishInstance, _c=self)
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print(f" ├─ Processed {len(self.publish_instances):<8d} publish instances")
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self.callback_instances = df_to_type_list(handler.data.callback_instances, TrCallbackInstance, _c=self)
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print(f" ├─ Processed {len(self.callback_instances):<8d} callback instances")
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self.nodes = Index(df_to_type_list(handler.data.nodes, TrNode, _c=self),
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id=False)
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self.publishers = Index(df_to_type_list(handler.data.rcl_publishers, TrPublisher, _c=self),
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id=False, node_handle=True, topic_name=True)
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self.subscriptions = Index(df_to_type_list(handler.data.rcl_subscriptions, TrSubscription, _c=self),
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id=False, node_handle=True, topic_name=True)
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self.timers = Index(df_to_type_list(handler.data.timers, TrTimer, _c=self),
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id=False)
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self.timer_node_links = Index(df_to_type_list(handler.data.timer_node_links, TrTimerNodeLink),
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id=False, node_handle=True)
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self.subscription_objects = Index(
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df_to_type_list(handler.data.subscription_objects, TrSubscriptionObject, _c=self),
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id=False, subscription_handle=False)
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self.callback_objects = Index(df_to_type_list(handler.data.callback_objects, TrCallbackObject, _c=self),
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id=False, callback_object=False)
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self.callback_symbols = Index(df_to_type_list(handler.data.callback_symbols, TrCallbackSymbol, _c=self),
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id=False)
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self.publish_instances = Index(df_to_type_list(handler.data.rcl_publish_instances, TrPublishInstance, _c=self,
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mappers={"timestamp": lambda t: t * 1e-9}),
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publisher_handle=True)
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self.callback_instances = Index(df_to_type_list(handler.data.callback_instances, TrCallbackInstance, _c=self,
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mappers={"timestamp": lambda t: t.timestamp(),
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"duration": lambda d: d.total_seconds()}),
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callback_object=True)
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_unique_topic_names = {*(pub.topic_name for pub in self.publishers.values()),
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*(sub.topic_name for sub in self.subscriptions.values())}
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self.topics = list_to_dict(map(lambda name: TrTopic(name=name, _c=self), _unique_topic_names), key="name")
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print(f" └─ Processed {len(self.topics):<8d} topics\n")
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_unique_topic_names = {*(pub.topic_name for pub in self.publishers),
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*(sub.topic_name for sub in self.subscriptions)}
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print("[TrContext] Caching dynamic properties...")
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p = tqdm(desc=" ├─ Processing nodes", total=len(self.nodes.values()))
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[(o.path, o.publishers, o.subscriptions, o.timers, p.update()) for o in self.nodes.values()]
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print(" ├─ Cached node properties")
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p = tqdm(desc=" ├─ Processing publishers", total=len(self.publishers.values()))
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[(o.instances, o.subscriptions, p.update()) for o in self.publishers.values()]
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print(" ├─ Cached publisher properties")
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p = tqdm(desc=" ├─ Processing subscriptions", total=len(self.subscriptions.values()))
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[(o.publishers, o.subscription_objects, p.update()) for o in self.subscriptions.values()]
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print(" ├─ Cached subscription properties")
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p = tqdm(desc=" ├─ Processing timers", total=len(self.timers.values()))
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[(o.nodes, p.update()) for o in self.timers.values()]
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print(" ├─ Cached timer properties")
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p = tqdm(desc=" ├─ Processing CB objects", total=len(self.callback_objects.values()))
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[(o.callback_instances, o.owner, p.update()) for o in self.callback_objects.values()]
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print(" ├─ Cached callback object properties")
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p = tqdm(desc=" ├─ Processing CB symbols", total=len(self.callback_symbols.values()))
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[(o.callback_objs, p.update()) for o in self.callback_symbols.values()]
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print(" ├─ Cached callback symbol properties")
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p = tqdm(desc=" ├─ Processing topics", total=len(self.topics.values()))
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[(o.publishers, o.subscriptions, p.update()) for o in self.topics.values()]
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print(" └─ Cached topic properties\n")
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def __getstate__(self):
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state = self.__dict__.copy()
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del state["util"]
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del state["handler"]
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return state
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def __setstate__(self, state):
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self.__dict__.update(state)
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self.util = None
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self.handler = None
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self.topics = Index((TrTopic(name=name, _c=self) for name in _unique_topic_names),
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name=False)
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def __repr__(self):
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return f"TrContext"
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@ -110,26 +118,30 @@ class TrNode:
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namespace: str
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_c: TrContext = field(repr=False)
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@cached_property
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@property
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def path(self) -> str:
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return '/'.join((self.namespace, self.name)).replace('//', '/')
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@cached_property
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@property
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def publishers(self) -> List['TrPublisher']:
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return list(filter(lambda pub: pub.node_handle == self.id, self._c.publishers.values()))
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return self._c.publishers.by_node_handle.get(self.id) or []
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@cached_property
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@property
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def subscriptions(self) -> List['TrSubscription']:
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return list(filter(lambda sub: sub.node_handle == self.id, self._c.subscriptions.values()))
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return self._c.subscriptions.by_node_handle.get(self.id) or []
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@cached_property
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@property
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def timers(self) -> List['TrTimer']:
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links = [link.id for link in self._c.timer_node_links.values() if link.node_handle == self.id]
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return list(filter(lambda timer: timer.id in links, self._c.timers.values()))
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links = self._c.timer_node_links.by_node_handle.get(self.id) or []
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timers = [self._c.timers.by_id.get(link.id) for link in links]
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return [t for t in timers if t is not None]
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def __hash__(self):
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return hash(self.id)
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def __eq__(self, other):
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return self.__hash__() == other.__hash__()
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@dataclass
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class TrPublisher:
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@ -142,24 +154,27 @@ class TrPublisher:
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_c: TrContext = field(repr=False)
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@property
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def node(self) -> 'TrNode':
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return self._c.nodes[self.node_handle]
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@cached_property
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def subscriptions(self) -> List['TrSubscription']:
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return list(filter(lambda sub: sub.topic_name == self.topic_name, self._c.subscriptions.values()))
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@cached_property
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def instances(self) -> List['TrPublishInstance']:
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return list(filter(lambda inst: inst.publisher_handle == self.id, self._c.publish_instances))
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def node(self) -> Optional['TrNode']:
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return self._c.nodes.by_id.get(self.node_handle)
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@property
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def topic(self) -> 'TrTopic':
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return self._c.topics[self.topic_name]
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def subscriptions(self) -> List['TrSubscription']:
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return self._c.subscriptions.by_topic_name.get(self.topic_name) or []
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@property
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def instances(self) -> List['TrPublishInstance']:
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return self._c.publish_instances.by_publisher_handle.get(self.id) or []
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@property
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def topic(self) -> Optional['TrTopic']:
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return self._c.topics.by_name.get(self.topic_name)
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def __hash__(self):
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return hash(self.id)
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def __eq__(self, other):
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return self.__hash__() == other.__hash__()
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@dataclass
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class TrSubscription:
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@ -172,25 +187,27 @@ class TrSubscription:
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_c: TrContext = field(repr=False)
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@property
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def node(self) -> 'TrNode':
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return self._c.nodes[self.node_handle]
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@cached_property
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def publishers(self) -> List['TrPublisher']:
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return list(filter(lambda pub: pub.topic_name == self.topic_name, self._c.publishers.values()))
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@cached_property
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def subscription_objects(self) -> List['TrSubscriptionObject']:
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return list(
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filter(lambda sub_obj: sub_obj.subscription_handle == self.id, self._c.subscription_objects.values()))
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def node(self) -> Optional['TrNode']:
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return self._c.nodes.by_id.get(self.node_handle)
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@property
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def topic(self) -> 'TrTopic':
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return self._c.topics[self.topic_name]
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def publishers(self) -> List['TrPublisher']:
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return self._c.publishers.by_topic_name.get(self.topic_name) or []
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@property
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def subscription_object(self) -> Optional['TrSubscriptionObject']:
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return self._c.subscription_objects.by_subscription_handle.get(self.id)
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@property
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def topic(self) -> Optional['TrTopic']:
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return self._c.topics.by_name.get(self.topic_name)
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def __hash__(self):
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return hash(self.id)
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def __eq__(self, other):
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return self.__hash__() == other.__hash__()
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@dataclass
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class TrTimer:
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@ -200,18 +217,23 @@ class TrTimer:
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tid: int
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_c: TrContext = field(repr=False)
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@cached_property
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def nodes(self) -> List['TrNode']:
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links = [link.node_handle for link in self._c.timer_node_links.values() if link.id == self.id]
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return list(filter(lambda node: node.id in links, self._c.nodes.values()))
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@property
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def node(self) -> Optional['TrNode']:
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link = self._c.timer_node_links.by_id.get(self.id)
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if link is None:
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return None
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return self._c.nodes.by_id.get(link.node_handle)
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@property
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def callback_object(self) -> 'TrCallbackObject':
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return self._c.callback_objects[self.id]
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def callback_object(self) -> Optional['TrCallbackObject']:
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return self._c.callback_objects.by_id.get(self.id)
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def __hash__(self):
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return hash(self.id)
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def __eq__(self, other):
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return self.__hash__() == other.__hash__()
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@dataclass
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class TrTimerNodeLink:
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@ -219,25 +241,34 @@ class TrTimerNodeLink:
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timestamp: int
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node_handle: int
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def __hash__(self):
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return hash((self.id, self.node_handle))
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def __eq__(self, other):
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return self.__hash__() == other.__hash__()
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@dataclass
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class TrSubscriptionObject:
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id: int # subscription
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id: int
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timestamp: int
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subscription_handle: int
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_c: TrContext = field(repr=False)
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@property
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def subscription(self) -> 'TrSubscription':
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return self._c.subscriptions[self.subscription_handle]
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def subscription(self) -> Optional['TrSubscription']:
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return self._c.subscriptions.by_id.get(self.subscription_handle)
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@property
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def callback_object(self) -> 'TrCallbackObject':
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return self._c.callback_objects[self.id]
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def callback_object(self) -> Optional['TrCallbackObject']:
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return self._c.callback_objects.by_id.get(self.id)
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def __hash__(self):
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return hash((self.id, self.timestamp, self.subscription_handle))
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def __eq__(self, other):
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return self.__hash__() == other.__hash__()
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@dataclass
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class TrCallbackObject:
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@ -246,62 +277,67 @@ class TrCallbackObject:
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callback_object: int
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_c: TrContext = field(repr=False)
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@cached_property
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@property
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def callback_instances(self) -> List['TrCallbackInstance']:
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return list(filter(lambda inst: inst.callback_object == self.callback_object, self._c.callback_instances))
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return self._c.callback_instances.by_callback_object.get(self.callback_object) or []
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@property
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def callback_symbol(self) -> 'TrCallbackSymbol':
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return self._c.callback_symbols[self.id]
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def callback_symbol(self) -> Optional['TrCallbackSymbol']:
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return self._c.callback_symbols.by_id.get(self.callback_object)
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@cached_property
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@property
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def owner(self):
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if self.id in self._c.timers:
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return self._c.timers[self.id]
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if self.id in self._c.publishers:
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return self._c.publishers[self.id]
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if self.id in self._c.subscription_objects:
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return self._c.subscription_objects[self.id]
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if self.id in self._c.handler.data.services.index:
|
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return 'Service'
|
||||
if self.id in self._c.handler.data.clients.index:
|
||||
return 'Client'
|
||||
if self.id in self._c.timers.by_id:
|
||||
return self._c.timers.by_id[self.id]
|
||||
if self.id in self._c.publishers.by_id:
|
||||
return self._c.publishers.by_id[self.id]
|
||||
if self.id in self._c.subscription_objects.by_id:
|
||||
return self._c.subscription_objects.by_id[self.id]
|
||||
return None
|
||||
|
||||
def __hash__(self):
|
||||
return hash((self.id, self.timestamp, self.callback_object))
|
||||
|
||||
def __eq__(self, other):
|
||||
return self.__hash__() == other.__hash__()
|
||||
|
||||
|
||||
@dataclass
|
||||
class TrPublishInstance:
|
||||
publisher_handle: int
|
||||
timestamp: int
|
||||
timestamp: float
|
||||
message: int
|
||||
_c: TrContext = field(repr=False)
|
||||
|
||||
@property
|
||||
def publisher(self) -> 'TrPublisher':
|
||||
return self._c.publishers[self.publisher_handle]
|
||||
def publisher(self) -> Optional['TrPublisher']:
|
||||
return self._c.publishers.by_id.get(self.publisher_handle)
|
||||
|
||||
def __hash__(self):
|
||||
return hash((self.publisher_handle, self.timestamp, self.message))
|
||||
|
||||
def __eq__(self, other):
|
||||
return self.__hash__() == other.__hash__()
|
||||
|
||||
|
||||
@dataclass
|
||||
class TrCallbackInstance:
|
||||
callback_object: int
|
||||
timestamp: pd.Timestamp
|
||||
duration: pd.Timedelta
|
||||
timestamp: float
|
||||
duration: float
|
||||
intra_process: bool
|
||||
_c: TrContext = field(repr=False)
|
||||
|
||||
@property
|
||||
def callback_obj(self) -> 'TrCallbackObject':
|
||||
return self._c.callback_objects[self.callback_object]
|
||||
def callback_obj(self) -> Optional['TrCallbackObject']:
|
||||
return self._c.callback_objects.by_callback_object.get(self.callback_object)
|
||||
|
||||
def __hash__(self):
|
||||
return hash((self.callback_object, self.timestamp, self.duration))
|
||||
|
||||
def __eq__(self, other):
|
||||
return self.__hash__() == other.__hash__()
|
||||
|
||||
|
||||
@dataclass
|
||||
class TrCallbackSymbol:
|
||||
|
|
@ -310,13 +346,16 @@ class TrCallbackSymbol:
|
|||
symbol: str
|
||||
_c: TrContext = field(repr=False)
|
||||
|
||||
@cached_property
|
||||
def callback_objs(self) -> List['TrCallbackObject']:
|
||||
return list(filter(lambda cb_obj: cb_obj.callback_object == self.id, self._c.callback_objects.values()))
|
||||
@property
|
||||
def callback_obj(self) -> Optional['TrCallbackObject']:
|
||||
return self._c.callback_objects.by_callback_object.get(self.id)
|
||||
|
||||
def __hash__(self):
|
||||
return hash((self.id, self.timestamp, self.symbol))
|
||||
|
||||
def __eq__(self, other):
|
||||
return self.__hash__() == other.__hash__()
|
||||
|
||||
|
||||
#######################################
|
||||
# Self-defined (not from ROS2DataModel)
|
||||
|
|
@ -326,14 +365,18 @@ class TrCallbackSymbol:
|
|||
class TrTopic:
|
||||
name: str
|
||||
_c: TrContext = field(repr=False)
|
||||
timestamp: int = 0
|
||||
|
||||
@cached_property
|
||||
@property
|
||||
def publishers(self) -> List['TrPublisher']:
|
||||
return list(filter(lambda pub: pub.topic_name == self.name, self._c.publishers.values()))
|
||||
return self._c.publishers.by_topic_name.get(self.name) or []
|
||||
|
||||
@cached_property
|
||||
@property
|
||||
def subscriptions(self) -> List['TrSubscription']:
|
||||
return list(filter(lambda sub: sub.topic_name == self.name, self._c.subscriptions.values()))
|
||||
return self._c.subscriptions.by_topic_name.get(self.name) or []
|
||||
|
||||
def __hash__(self):
|
||||
return hash(self.name)
|
||||
|
||||
def __eq__(self, other):
|
||||
return self.__hash__() == other.__hash__()
|
||||
|
|
|
|||
|
|
@ -8,27 +8,18 @@ def row_to_type(row, type, **type_kwargs):
|
|||
return type(**row, **type_kwargs)
|
||||
|
||||
|
||||
def df_to_type_list(df, type, **type_kwargs):
|
||||
def df_to_type_list(df, type, mappers=None, **type_kwargs):
|
||||
if mappers is not None:
|
||||
for col, mapper in mappers.items():
|
||||
df[col] = df[col].map(mapper)
|
||||
|
||||
has_idx = not isinstance(df.index, pd.RangeIndex)
|
||||
ret_list = []
|
||||
p = tqdm(desc=" ├─ Processing", total=len(df))
|
||||
for row in df.itertuples(index=has_idx):
|
||||
p.update()
|
||||
i=0
|
||||
for row in tqdm(df.itertuples(index=has_idx), desc=f" ├─ Processing {type.__name__}s", total=len(df)):
|
||||
row_dict = row._asdict()
|
||||
if has_idx:
|
||||
row_dict["id"] = row.Index
|
||||
del row_dict["Index"]
|
||||
ret_list.append(row_to_type(row_dict, type, **type_kwargs))
|
||||
return ret_list
|
||||
|
||||
|
||||
def by_index(df, index, type):
|
||||
return df_to_type_list(df.loc[index], type)
|
||||
|
||||
|
||||
def by_column(df, column_name, column_val, type):
|
||||
return df_to_type_list(df[df[column_name] == column_val], type)
|
||||
|
||||
|
||||
def list_to_dict(ls, key='id'):
|
||||
return {getattr(item, key): item for item in ls}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue