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Fixes for different setting combos

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This commit is contained in:
Maximilian Schmeller 2022-09-15 16:17:24 +02:00
parent 7d3e957ed9
commit b456645621
5 changed files with 36 additions and 69 deletions
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86
trace-analysis.ipynb
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@ -5,18 +5,14 @@
"execution_count": null,
"outputs": [],
"source": [
"import glob\n",
"import json\n",
"import os\n",
"import pickle\n",
"import re\n",
"import sys\n",
"\n",
"import numpy as np\n",
"import pandas as pd\n",
"from matplotlib import pyplot as plt\n",
"\n",
"from misc.utils import ProgressPrinter, cached, parse_as\n",
"from misc.utils import cached, parse_as\n",
"\n",
"%load_ext pyinstrument\n",
"%matplotlib inline"
@ -49,17 +45,20 @@
"\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 = \"../src/build\"\n",
"TRACING_WS_BUILD_PATH = \"~/Projects/autoware/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 = \"../sa-tracing-results/140922/01/ust\"\n",
"TR_PATH = \"data/awsim-trace/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",
"OUT_PATH = \"out/\"\n",
"\n",
"# Whether to cache the results of long computations per set of inputs\n",
"CACHING_ENABLED = True\n",
"\n",
"# Whether to annotate topics/publications with bandwidth/message size\n",
"BW_ENABLED = False\n",
"# Path to a results folder as output by ma-hw-perf-tools/messages/record.bash\n",
@ -109,12 +108,10 @@
"\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/command/control_cmd\"]\n",
"#E2E_OUTPUT_TOPIC_PATTERNS = [r\"^/system/emergency/control_cmd\"]\n",
"E2E_OUTPUT_TOPIC_PATTERNS = [r\"^/control/trajectory_follower/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/\", \"/perception/\"]\n",
"#E2E_INPUT_TOPIC_PATTERNS = [\"/vehicle/\", \"/sensing/\", \"/localization/\", \"planning\"]\n",
"E2E_INPUT_TOPIC_PATTERNS = [\"/vehicle/status/\", \"/sensing/imu\"]\n",
"\n",
"\n",
"# This code overrides the above constants with environment variables, do not edit.\n",
@ -150,18 +147,13 @@
"execution_count": null,
"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"
"from tracing_interop.tr_types import TrTimer, TrTopic, TrPublisher, TrPublishInstance, TrCallbackInstance, TrContext"
],
"metadata": {
"collapsed": false,
@ -193,7 +185,7 @@
" return TrContext(handler)\n",
"\n",
"\n",
"_tracing_context = cached(\"tr_objects\", _load_traces, [TR_PATH])\n",
"_tracing_context = cached(\"tr_objects\", _load_traces, [TR_PATH], CACHING_ENABLED)\n",
"_tr_globals = [\"nodes\", \"publishers\", \"subscriptions\", \"timers\", \"timer_node_links\", \"subscription_objects\",\n",
" \"callback_objects\", \"callback_symbols\", \"publish_instances\", \"callback_instances\", \"topics\"]\n",
"\n",
@ -212,22 +204,6 @@
}
}
},
{
"cell_type": "code",
"execution_count": null,
"outputs": [],
"source": [
"for t in topics:\n",
" if \"control\" in t.name:\n",
" print(t.name)"
],
"metadata": {
"collapsed": false,
"pycharm": {
"name": "#%%\n"
}
}
},
{
"cell_type": "markdown",
"source": [
@ -250,7 +226,7 @@
"def _make_latency_graph():\n",
" return lg.LatencyGraph(_tracing_context)\n",
"\n",
"lat_graph = cached(\"lat_graph\", _make_latency_graph, [TR_PATH])"
"lat_graph = cached(\"lat_graph\", _make_latency_graph, [TR_PATH], CACHING_ENABLED)"
],
"metadata": {
"collapsed": false,
@ -267,9 +243,7 @@
"%%skip_if_false DFG_ENABLED\n",
"%%skip_if_false DFG_PLOT\n",
"\n",
"from matching.subscriptions import sanitize\n",
"from typing import Iterable, Sized\n",
"from tracing_interop.tr_types import TrNode, TrCallbackObject, TrCallbackSymbol, TrSubscriptionObject\n",
"from tracing_interop.tr_types import TrNode, TrCallbackObject, TrSubscriptionObject\n",
"\n",
"#################################################\n",
"# Plot DFG\n",
@ -498,8 +472,7 @@
"source": [
"%%skip_if_false E2E_ENABLED\n",
"\n",
"from latency_graph.message_tree import DepTree\n",
"from tqdm.notebook import tqdm\n",
"from tqdm import tqdm\n",
"from bisect import bisect\n",
"\n",
"\n",
@ -635,9 +608,6 @@
" 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",
" case TrCallbackInstance() as cb_inst:\n",
@ -645,16 +615,9 @@
" 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",
" print(f\"[WARN] Expected inst to be of type TrPublishInstance or TrCallbackInstance, got {type(inst).__name__}\")\n",
" return None\n",
" raise TypeError(f\"Expected inst to be of type TrPublishInstance or TrCallbackInstance, got {type(inst).__name__}\")\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), children_are_dep_cbs, start_time) for dep in deps]\n",
@ -691,7 +654,7 @@
" all_trees.append(tree)\n",
" return all_trees\n",
"\n",
"trees = cached(\"trees\", build_dep_trees, [TR_PATH])"
"trees = cached(\"trees\", build_dep_trees, [TR_PATH], CACHING_ENABLED)"
],
"metadata": {
"collapsed": false,
@ -1108,15 +1071,15 @@
"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",
@ -1143,9 +1106,7 @@
"%%skip_if_false E2E_PLOT\n",
"\n",
"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",
"tree = trees[E2E_PLOT_TIMESTAMP]\n",
@ -1341,7 +1302,6 @@
"\n",
"from termcolor import colored\n",
"from tqdm import tqdm\n",
"from matching.subscriptions import sanitize\n",
"\n",
"critical_paths = {}\n",
"print(len(relevant_trees))\n",