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Remove obsolete /tf handling

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Maximilian Schmeller 2023-03-01 21:11:06 +09:00
parent 7273503e63
commit 95e4dd5e71
1 changed files with 0 additions and 61 deletions
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trace-analysis.ipynb
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@ -282,67 +282,6 @@
"print(\"Done.\")"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {
"collapsed": false
},
"outputs": [],
"source": [
"##################################################\n",
"# Split /tf into Artificial Topics\n",
"##################################################\n",
"# /tf is one ROS2 topic but carries multiple\n",
"# different streams of information:\n",
"# One for each publisher of the /tf topic.\n",
"# We can separate the messages on /tf according\n",
"# to those publishers.\n",
"# Still, all subscribers to /tf are subscribed\n",
"# to ALL of those split topics, so the\n",
"# found dependencies are still a vast over-\n",
"# approximation of the actual dataflow.\n",
"##################################################\n",
"\n",
"tf_topic: TrTopic = topics.by_name[\"/tf\"]\n",
"\n",
"tf_split_topics = []\n",
"for pub in tf_topic.publishers:\n",
" pub: TrPublisher\n",
" topic = TrTopic(f\"/tf[{pub.node.path}_{pub.id}]\", _tracing_context)\n",
" pub.topic_name = topic.name\n",
" for sub in tf_topic.subscriptions:\n",
" sub.topic_names.append(topic.name)\n",
"\n",
" tf_split_topics.append(topic)\n",
"\n",
"print(\"Rebuilding subscription index\")\n",
"subscriptions.rebuild()\n",
"print(\"Rebuilding publisher index\")\n",
"publishers.rebuild()\n",
"print(\"Adding new topics and rebuilding topic index\")\n",
"topics.append(tf_split_topics)"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {
"collapsed": false
},
"outputs": [],
"source": [
"print(\"Artificial TF topics (/tf[...]):\")\n",
"for t in tf_split_topics:\n",
" print(f\"{t.name:.<110s} | {len(t.publishers)} pubs, {sum(map(lambda p: len(p.instances), t.publishers))}\")\n",
" for sub in t.subscriptions:\n",
" print(f\" {sub.node.path:.<106s} | {len(sub.subscription_object.callback_object.callback_instances)} {len(sub.node.publishers)} {sum(map(lambda p: len(p.instances), sub.node.publishers))}\")\n",
" #prefix = os.path.split(sub.node.path)[0]\n",
" #for node in nodes:\n",
" # if node.path.startswith(prefix) and node.path.removeprefix(prefix).count(\"/\") <= 1 and \"transform_listener_impl\" not in node.path:\n",
" # print(f\" -> {' ' * (len(prefix) - 3)}{node.path.removeprefix(prefix)}\")"
]
},
{
"cell_type": "code",
"execution_count": null,