{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {
    "pycharm": {
     "name": "#%%\n"
    }
   },
   "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",
    "\n",
    "%load_ext pyinstrument\n",
    "%matplotlib inline"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 43,
   "metadata": {
    "pycharm": {
     "name": "#%%\n"
    }
   },
   "outputs": [],
   "source": [
    "##################################################\n",
    "# User Settings\n",
    "##################################################\n",
    "# Change these to influence the execution of the\n",
    "# notebook.\n",
    "# You can override these from the command line\n",
    "# by defining environment variables with the\n",
    "# name of the constants below, prefixed with\n",
    "# \"ANA_NB_\".\n",
    "# For example, the environment variable\n",
    "# \"ANA_NB_TR_PATH\" will override the \"TR_PATH\"\n",
    "# setting below.\n",
    "##################################################\n",
    "\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",
    "\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",
    "\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 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",
    "# Used to annotate message sizes in E2E latency calculations\n",
    "BW_PATH = \"../ma-hw-perf-tools/data/results\"\n",
    "\n",
    "# Whether to use dependencies extracted by the Clang-tools to supplement\n",
    "# automatic node-internal data flow annotations.\n",
    "# If in doubt, set to False.\n",
    "CL_ENABLED = False\n",
    "# Path to the output directory of the ROS2 dependency checker.\n",
    "# Will only be used if CL_ENABLED is True.\n",
    "CL_PATH = \"~/Projects/llvm-project/clang-tools-extra/ros2-internal-dependency-checker/output\"\n",
    "\n",
    "# Whether to compute data flow graphs.\n",
    "# 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 = False\n",
    "\n",
    "# The maximum node namespace hierarchy level to be plotted.\n",
    "# Top-level (1): e.g. /sensing, /control, etc.\n",
    "# Level 3: e.g. /sensing/lidar/pointcloud_processor\n",
    "DFG_MAX_HIER_LEVEL = 100\n",
    "\n",
    "# RegEx pattern for nodes that shall be marked as system inputs\n",
    "# These will be plotted with a start arrow as known from automata diagrams\n",
    "DFG_INPUT_NODE_PATTERNS = [r\"^/sensing\"]\n",
    "# RegEx pattern for nodes that shall be marked as system outputs\n",
    "# These will be plotted with a double border\n",
    "DFG_OUTPUT_NODE_PATTERNS = [r\"^/awapi\", r\"^/control/external_cmd_converter\"]\n",
    "# RegEx for nodes which shall not be plotted in the DFG\n",
    "DFG_EXCL_NODE_PATTERNS = [r\"^/rviz2\", r\"transform_listener_impl\"]\n",
    "\n",
    "# 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 = 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 = 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",
    "# your results will be wrong)\n",
    "E2E_TIME_LIMIT_S = 2\n",
    "\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",
    "# 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",
    "\n",
    "\n",
    "# This code overrides the above constants with environment variables, do not edit.\n",
    "for env_key, env_value in os.environ.items():\n",
    "    if env_key.startswith(\"ANA_NB_\"):\n",
    "        key = env_key.removeprefix(\"ANA_NB_\")\n",
    "        if key not in globals().keys():\n",
    "            continue\n",
    "        value = parse_as(type(globals()[key]), env_value)\n",
    "        globals()[key] = value\n",
    "\n",
    "# Convert input paths to absolute paths\n",
    "def _expand_path(path):\n",
    "    return os.path.realpath(os.path.expandvars(os.path.expanduser(path)))\n",
    "\n",
    "TRACING_WS_BUILD_PATH = _expand_path(TRACING_WS_BUILD_PATH)\n",
    "TR_PATH = _expand_path(TR_PATH)\n",
    "OUT_PATH = _expand_path(OUT_PATH)\n",
    "BW_PATH = _expand_path(BW_PATH)\n",
    "CL_PATH = _expand_path(CL_PATH)\n",
    "\n",
    "os.makedirs(OUT_PATH, exist_ok=True)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {
    "pycharm": {
     "name": "#%%\n"
    }
   },
   "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"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "pycharm": {
     "name": "#%% md\n"
    }
   },
   "source": [
    "# Organize Trace Data"
   ]
  },
  {
   "cell_type": "code",
   "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",
    "    handler = Ros2Handler.process(file)\n",
    "    return TrContext(handler)\n",
    "\n",
    "\n",
    "_tracing_context = cached(\"tr_objects\", _load_traces, [TR_PATH])\n",
    "_tr_globals = [\"nodes\", \"publishers\", \"subscriptions\", \"timers\", \"timer_node_links\", \"subscription_objects\",\n",
    "               \"callback_objects\", \"callback_symbols\", \"publish_instances\", \"callback_instances\", \"topics\"]\n",
    "\n",
    "# Help the IDE recognize those identifiers\n",
    "nodes = publishers = subscriptions = timers = timer_node_links = subscription_objects = callback_objects = callback_symbols = publish_instances = callback_instances = topics = None\n",
    "\n",
    "for name in _tr_globals:\n",
    "    globals()[name] = getattr(_tracing_context, name)\n",
    "\n",
    "print(\"Done.\")"
   ]
  },
  {
   "cell_type": "code",
   "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",
    "def _make_latency_graph():\n",
    "    return lg.LatencyGraph(_tracing_context)\n",
    "\n",
    "lat_graph = cached(\"lat_graph\", _make_latency_graph, [TR_PATH])"
   ]
  },
  {
   "cell_type": "code",
   "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": {
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       "<text text-anchor=\"start\" x=\"11193\" y=\"-10809.8\" font-family=\"Times,serif\" font-size=\"14.00\">void(rclcpp::TimeSource)(rcl_interfaces::msg::ParameterEvent)</text>\n",
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       "<text text-anchor=\"start\" x=\"8919\" y=\"-5114.8\" font-family=\"Times,serif\" font-size=\"14.00\">void(rclcpp::TimeSource)(rcl_interfaces::msg::ParameterEvent)</text>\n",
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       "<text text-anchor=\"start\" x=\"8908\" y=\"-5036.8\" font-family=\"Times,serif\" font-size=\"14.00\">void(tf2_ros::TransformListener)(tf2_msgs::msg::TFMessage,bool)</text>\n",
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      ],
      "text/plain": [
       "<graphviz.graphs.Digraph at 0x7f7bf506c0d0>"
      ]
     },
     "execution_count": 6,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "%%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",
    "\n",
    "#################################################\n",
    "# Plot DFG\n",
    "#################################################\n",
    "\n",
    "# Compare with: https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/node-diagram/\n",
    "node_colors = {\n",
    "        \"sensing\": {\"fill\": \"#e1d5e7\", \"stroke\": \"#9673a6\"},\n",
    "        \"localization\": {\"fill\": \"#dae8fc\", \"stroke\": \"#6c8ebf\"},\n",
    "        \"perception\": {\"fill\": \"#d5e8d4\", \"stroke\": \"#82b366\"},\n",
    "        \"planning\": {\"fill\": \"#fff2cc\", \"stroke\": \"#d6b656\"},\n",
    "        \"control\": {\"fill\": \"#ffe6cc\", \"stroke\": \"#d79b00\"},\n",
    "        \"system\": {\"fill\": \"#f8cecc\", \"stroke\": \"#b85450\"},\n",
    "        \"vehicle_interface\": {\"fill\": \"#b0e3e6\", \"stroke\": \"#0e8088\"},\n",
    "        None: {\"fill\": \"#f5f5f5\", \"stroke\": \"#666666\"}\n",
    "}\n",
    "\n",
    "node_namespace_mapping = {\n",
    "        'perception': 'perception',\n",
    "        'sensing': 'sensing',\n",
    "        'planning': 'planning',\n",
    "        'control': 'control',\n",
    "        'awapi': None,\n",
    "        'autoware_api': None,\n",
    "        'map': None,\n",
    "        'system': 'system',\n",
    "        'localization': 'localization',\n",
    "        'robot_state_publisher': None,\n",
    "        'aggregator_node': None,\n",
    "        'pointcloud_container': 'sensing',\n",
    "}\n",
    "\n",
    "import graphviz as gv\n",
    "\n",
    "g = gv.Digraph('G', filename=\"latency_graph.gv\",\n",
    "               node_attr={'shape': 'plain'},\n",
    "               graph_attr={'pack': '1'})\n",
    "g.graph_attr['rankdir'] = 'LR'\n",
    "\n",
    "def plot_hierarchy(gv_parent, lg_node: lg.LGHierarchyLevel, **subgraph_kwargs):\n",
    "    if lg_node.name == \"[NONE]\":\n",
    "        return\n",
    "\n",
    "    print(f\"{'  ' * lg_node.full_name.count('/')}Processing {lg_node.name}: {len(lg_node.callbacks)}\")\n",
    "    with gv_parent.subgraph(name=f\"cluster_{lg_node.full_name.replace('/', '__')}\", **subgraph_kwargs) as c:\n",
    "        c.attr(label=lg_node.name)\n",
    "        for cb in lg_node.callbacks:\n",
    "            if isinstance(cb, lg.LGTrCallback):\n",
    "                tr_cb = cb.cb\n",
    "                try:\n",
    "                    sym = _tracing_context.callback_symbols.by_id.get(tr_cb.callback_object)\n",
    "                    pretty_sym = repr(sanitize(sym.symbol))\n",
    "                except KeyError:\n",
    "                    pretty_sym = cb.name\n",
    "                except TypeError:\n",
    "                    pretty_sym = cb.name\n",
    "            else:\n",
    "                pretty_sym = cb.name\n",
    "\n",
    "            pretty_sym = pretty_sym.replace(\"&\", \"&amp;\").replace(\"<\", \"&lt;\").replace(\">\", \"&gt;\")\n",
    "\n",
    "            c.node(cb.id(),\n",
    "                   f'<<table BORDER=\"0\" CELLBORDER=\"1\" CELLSPACING=\"0\"><tr><td port=\"in\"></td><td>{pretty_sym}</td><td port=\"out\"></td></tr></table>>')\n",
    "\n",
    "        for ch in lg_node.children:\n",
    "            plot_hierarchy(c, ch, **subgraph_kwargs)\n",
    "\n",
    "def plot_lg(graph: lg.LatencyGraph):\n",
    "    for top_level_node in graph.top_node.children:\n",
    "        colors = node_colors[node_namespace_mapping.get(top_level_node.name)]\n",
    "        plot_hierarchy(g, top_level_node, graph_attr={'bgcolor': colors[\"fill\"], 'pencolor': colors[\"stroke\"]})\n",
    "\n",
    "    for edge in graph.edges:\n",
    "        g.edge(f\"{edge.start.id()}:out\", f\"{edge.end.id()}:in\")\n",
    "\n",
    "plot_lg(lat_graph)\n",
    "\n",
    "g.save(\"latency_graph.gv\")\n",
    "g.render(\"latency_graph.svg\")\n",
    "\n",
    "g"
   ]
  },
  {
   "cell_type": "code",
   "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"
     ]
    },
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     "execution_count": 7,
     "metadata": {},
     "output_type": "execute_result"
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   ],
   "source": [
    "%%skip_if_false DFG_ENABLED\n",
    "%%skip_if_false DFG_PLOT\n",
    "\n",
    "import re\n",
    "import math\n",
    "\n",
    "##################################################\n",
    "# Compute in/out topics for hierarchy level X\n",
    "##################################################\n",
    "\n",
    "def get_nodes_on_level(lat_graph: lg.LatencyGraph):\n",
    "    def _traverse_node(node: lg.LGHierarchyLevel, cur_lvl=0):\n",
    "        if cur_lvl == DFG_MAX_HIER_LEVEL:\n",
    "            return [node]\n",
    "\n",
    "        if not node.children and cur_lvl < DFG_MAX_HIER_LEVEL:\n",
    "            return [node]\n",
    "\n",
    "        collected_nodes = []\n",
    "        for ch in node.children:\n",
    "            collected_nodes += _traverse_node(ch, cur_lvl + 1)\n",
    "        return collected_nodes\n",
    "\n",
    "    return _traverse_node(lat_graph.top_node)\n",
    "\n",
    "lvl_nodes = get_nodes_on_level(lat_graph)\n",
    "lvl_nodes = [n for n in lvl_nodes if not any(re.search(p, n.full_name) for p in DFG_EXCL_NODE_PATTERNS)]\n",
    "\n",
    "input_nodes = [n.full_name for n in lvl_nodes if any(re.search(p, n.full_name) for p in DFG_INPUT_NODE_PATTERNS)]\n",
    "output_nodes = [n.full_name for n in lvl_nodes if any(re.search(p, n.full_name) for p in DFG_OUTPUT_NODE_PATTERNS)]\n",
    "\n",
    "print(', '.join(map(lambda n: n, input_nodes)))\n",
    "print(', '.join(map(lambda n: n, output_nodes)))\n",
    "print(', '.join(map(lambda n: n.full_name, lvl_nodes)))\n",
    "\n",
    "def _collect_callbacks(n: lg.LGHierarchyLevel):\n",
    "    callbacks = []\n",
    "    callbacks += n.callbacks\n",
    "    for ch in n.children:\n",
    "        callbacks += _collect_callbacks(ch)\n",
    "    return callbacks\n",
    "\n",
    "\n",
    "cb_to_node_map = {}\n",
    "for n in lvl_nodes:\n",
    "    cbs = _collect_callbacks(n)\n",
    "    for cb in cbs:\n",
    "        cb_to_node_map[cb.id()] = n\n",
    "\n",
    "\n",
    "edges_between_nodes = {}\n",
    "for edge in lat_graph.edges:\n",
    "    from_node = cb_to_node_map.get(edge.start.id())\n",
    "    to_node = cb_to_node_map.get(edge.end.id())\n",
    "\n",
    "    if from_node is None or to_node is None:\n",
    "        continue\n",
    "\n",
    "    if from_node.full_name == to_node.full_name:\n",
    "        continue\n",
    "\n",
    "    k = (from_node.full_name, to_node.full_name)\n",
    "\n",
    "    if k not in edges_between_nodes:\n",
    "        edges_between_nodes[k] = []\n",
    "\n",
    "    edges_between_nodes[k].append(edge)\n",
    "\n",
    "g = gv.Digraph('G', filename=\"latency_graph.gv\",\n",
    "               node_attr={'shape': 'plain'},\n",
    "               graph_attr={'pack': '1'})\n",
    "g.graph_attr['rankdir'] = 'LR'\n",
    "\n",
    "for n in lvl_nodes:\n",
    "    colors = node_colors[node_namespace_mapping.get(n.full_name.strip(\"/\").split(\"/\")[0])]\n",
    "    peripheries = \"1\" if n.full_name not in output_nodes else \"2\"\n",
    "    g.node(n.full_name, label=n.full_name, fillcolor=colors[\"fill\"], color=colors[\"stroke\"],\n",
    "           shape=\"box\", style=\"filled\", peripheries=peripheries)\n",
    "\n",
    "    if n.full_name in input_nodes:\n",
    "        helper_node_name = f\"{n.full_name}__before\"\n",
    "        g.node(helper_node_name, label=\"\", shape=\"none\", height=\"0\", width=\"0\")\n",
    "        g.edge(helper_node_name, n.full_name)\n",
    "\n",
    "def compute_e2e_paths(start_nodes, end_nodes, edges):\n",
    "    frontier_paths = [[n] for n in start_nodes]\n",
    "    final_paths = []\n",
    "\n",
    "    while frontier_paths:\n",
    "        frontier_paths_new = []\n",
    "\n",
    "        for path in frontier_paths:\n",
    "            head = path[-1]\n",
    "            if head in end_nodes:\n",
    "                final_paths.append(path)\n",
    "                continue\n",
    "\n",
    "            out_nodes = [n_to for n_from, n_to in edges if n_from == head if n_to not in path]\n",
    "            new_paths = [path + [n] for n in out_nodes]\n",
    "            frontier_paths_new += new_paths\n",
    "\n",
    "        frontier_paths = frontier_paths_new\n",
    "\n",
    "    final_paths = [[(n_from, n_to)\n",
    "                    for n_from, n_to in zip(path[:-1], path[1:])]\n",
    "                   for path in final_paths]\n",
    "    return final_paths\n",
    "\n",
    "e2e_paths = compute_e2e_paths(input_nodes, output_nodes, edges_between_nodes)\n",
    "\n",
    "for (src_name, dst_name), edges in edges_between_nodes.items():\n",
    "    print(src_name, dst_name, len(edges))\n",
    "    color = \"black\" if any((src_name, dst_name) in path for path in e2e_paths) else \"tomato\"\n",
    "    g.edge(src_name, dst_name, penwidth=str(math.log(len(edges)) * 2 + .2), color=color)\n",
    "\n",
    "g.save(\"level_graph.gv\")\n",
    "g.render(\"level_graph.svg\")\n",
    "\n",
    "g"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 51,
   "metadata": {
    "pycharm": {
     "name": "#%%\n"
    }
   },
   "outputs": [],
   "source": [
    "%%skip_if_false E2E_ENABLED\n",
    "\n",
    "from latency_graph.message_tree import DepTree\n",
    "from tqdm.notebook import tqdm\n",
    "from bisect import bisect\n",
    "\n",
    "\n",
    "def inst_get_dep_msg(inst: TrCallbackInstance):\n",
    "    if inst.callback_object not in _tracing_context.callback_objects.by_callback_object:\n",
    "        # print(\"Callback not found (2)\")\n",
    "        return None\n",
    "\n",
    "    if not isinstance(inst.callback_obj.owner, TrSubscriptionObject):\n",
    "        # print(f\"Wrong type: {type(inst.callback_obj.owner)}\")\n",
    "        return None\n",
    "\n",
    "    sub_obj: TrSubscriptionObject = inst.callback_obj.owner\n",
    "    if sub_obj and sub_obj.subscription and sub_obj.subscription.topic:\n",
    "        # print(f\"Subscription has no topic\")\n",
    "        pubs = sub_obj.subscription.topic.publishers\n",
    "    else:\n",
    "        pubs = []\n",
    "\n",
    "    def _pub_latest_msg_before(pub: TrPublisher, inst):\n",
    "        i_latest_msg = bisect(pub.instances, inst.timestamp, key=lambda x: x.timestamp) - 1\n",
    "        if i_latest_msg < 0 or i_latest_msg >= len(pub.instances):\n",
    "            return None\n",
    "        latest_msg = pub.instances[i_latest_msg]\n",
    "        if latest_msg.timestamp >= inst.timestamp:\n",
    "            return None\n",
    "\n",
    "        return latest_msg\n",
    "\n",
    "    msgs = [_pub_latest_msg_before(pub, inst) for pub in pubs]\n",
    "    msgs = [msg for msg in msgs if msg is not None]\n",
    "    msgs.sort(key=lambda i: i.timestamp, reverse=True)\n",
    "    if msgs:\n",
    "        msg = msgs[0]\n",
    "        return msg\n",
    "\n",
    "    # print(f\"No messages found for topic {sub_obj.subscription.topic}\")\n",
    "    return None\n",
    "\n",
    "def inst_get_dep_insts(inst: TrCallbackInstance):\n",
    "    if inst.callback_object not in _tracing_context.callback_objects.by_callback_object:\n",
    "        # print(\"Callback not found\")\n",
    "        return []\n",
    "    dep_cbs = get_cb_dep_cbs(inst.callback_obj)\n",
    "\n",
    "    def _cb_to_chronological_inst(cb: TrCallbackObject, inst):\n",
    "        i_inst_latest = bisect(cb.callback_instances, inst.timestamp, key=lambda x: x.timestamp)\n",
    "\n",
    "        for inst_before in cb.callback_instances[i_inst_latest::-1]:\n",
    "            if lg.inst_runtime_interval(inst_before)[-1] < inst.timestamp:\n",
    "                return inst_before\n",
    "\n",
    "        return None\n",
    "\n",
    "    insts = [_cb_to_chronological_inst(cb, inst) for cb in dep_cbs]\n",
    "    insts = [inst for inst in insts if inst is not None]\n",
    "    return insts\n",
    "\n",
    "def get_cb_dep_cbs(cb: TrCallbackObject):\n",
    "    match cb.owner:\n",
    "        case TrSubscriptionObject() as sub_obj:\n",
    "            sub_obj: TrSubscriptionObject\n",
    "            owner = sub_obj.subscription.node\n",
    "        case TrTimer() as tmr:\n",
    "            tmr: TrTimer\n",
    "            owner = tmr.node\n",
    "        case _:\n",
    "            raise RuntimeError(f\"Encountered {cb.owner} as callback owner\")\n",
    "\n",
    "    owner: TrNode\n",
    "    dep_sub_objs = {sub.subscription_object for sub in owner.subscriptions}\n",
    "    dep_cbs = {callback_objects.by_id.get(sub_obj.id) for sub_obj in dep_sub_objs if sub_obj is not None}\n",
    "    dep_cbs |= {callback_objects.by_id.get(tmr.id) for tmr in owner.timers}\n",
    "    dep_cbs.discard(cb)\n",
    "    dep_cbs.discard(None)\n",
    "\n",
    "    return dep_cbs\n",
    "\n",
    "\n",
    "def get_msg_dep_cb(msg: TrPublishInstance):\n",
    "    \"\"\"\n",
    "    For a given message instance `msg`, find the publishing callback,\n",
    "    as well as the message instances that callback depends on (transitively within its TrNode).\n",
    "    \"\"\"\n",
    "\n",
    "    # Find CB instance that published msg\n",
    "    # print(f\"PUB {msg.publisher.node.path if msg.publisher.node is not None else '??'} ==> {msg.publisher.topic_name}\")\n",
    "    pub_cbs = lat_graph.pub_cbs.get(msg.publisher)\n",
    "    if pub_cbs is None:\n",
    "        # print(\"Publisher unknown to lat graph. Skipping.\")\n",
    "        return None\n",
    "\n",
    "    # print(f\"Found {len(pub_cbs)} pub cbs\")\n",
    "    cb_inst_candidates = []\n",
    "    for cb in pub_cbs:\n",
    "        # print(f\"  > CB ({len(cb.callback_instances)} instances): {cb.callback_symbol.symbol if cb.callback_symbol else cb.id}\")\n",
    "        i_inst_after = bisect(cb.callback_instances, msg.timestamp, key=lambda x: x.timestamp)\n",
    "\n",
    "        for inst in cb.callback_instances[:i_inst_after]:\n",
    "            inst_start, inst_end = lg.inst_runtime_interval(inst)\n",
    "            if msg.timestamp > inst_end:\n",
    "                continue\n",
    "\n",
    "            assert inst_start <= msg.timestamp <= inst_end\n",
    "\n",
    "            cb_inst_candidates.append(inst)\n",
    "\n",
    "    if len(cb_inst_candidates) > 1:\n",
    "        # print(\"Found multiple possible callbacks\")\n",
    "        return None\n",
    "    if not cb_inst_candidates:\n",
    "        # print(\"Found no possible callbacks\")\n",
    "        return None\n",
    "\n",
    "    dep_inst = cb_inst_candidates[0]\n",
    "    return dep_inst\n",
    "\n",
    "\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",
    "    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",
    "        case TrCallbackInstance() as cb_inst:\n",
    "            deps = [inst_get_dep_msg(cb_inst)]\n",
    "            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",
    "    #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",
    "    deps = [dep for dep in deps if dep is not None]\n",
    "    return DepTree(inst, deps)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "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 [00:00<?, ?it/s]"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "%%skip_if_false E2E_ENABLED\n",
    "\n",
    "end_topics = [t for t in _tracing_context.topics if any(re.search(f, t.name) for f in E2E_OUTPUT_TOPIC_PATTERNS)]\n",
    "\n",
    "def build_dep_trees():\n",
    "    all_trees = []\n",
    "    for end_topic in end_topics:\n",
    "        end_topic: TrTopic\n",
    "\n",
    "        pubs = end_topic.publishers\n",
    "        for pub in pubs:\n",
    "            msgs = pub.instances\n",
    "            for msg in tqdm(msgs, desc=f\"Building message chains for topic {end_topic.name}\"):\n",
    "                msg: TrPublishInstance\n",
    "                tree = get_dep_tree(msg)\n",
    "                all_trees.append(tree)\n",
    "    return all_trees\n",
    "\n",
    "trees = cached(\"trees\", build_dep_trees, [TR_PATH])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 28,
   "metadata": {
    "pycharm": {
     "name": "#%%\n"
    }
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "'Skipped (evaluated BW_ENABLED to False)'"
      ]
     },
     "execution_count": 28,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "%%skip_if_false E2E_ENABLED\n",
    "%%skip_if_false BW_ENABLED\n",
    "\n",
    "import glob\n",
    "\n",
    "\n",
    "def parse_bytes(string):\n",
    "    match string[-1]:\n",
    "        case 'K':\n",
    "            exponent = 1e3\n",
    "        case 'M':\n",
    "            exponent = 1e6\n",
    "        case _:\n",
    "            exponent = 1\n",
    "\n",
    "    num = float(string.split(\" \")[0])\n",
    "    return num * exponent\n",
    "\n",
    "\n",
    "def bytes_str(bytes):\n",
    "    if bytes >= 1024**2:\n",
    "        return f\"{bytes/(1024**2):.2f} MiB\"\n",
    "    if bytes >= 1024:\n",
    "        return f\"{bytes/1024:.2f} KiB\"\n",
    "    return f\"{bytes:.0f} B\"\n",
    "\n",
    "\n",
    "bw_files = glob.glob(os.path.join(BW_PATH, \"*.log\"))\n",
    "msg_sizes = {}\n",
    "for bw_file in bw_files:\n",
    "    with open(bw_file) as f:\n",
    "        lines = f.readlines()\n",
    "        topic = os.path.splitext(os.path.split(bw_file)[1])[0].replace(\"__\", \"/\")\n",
    "\n",
    "        if not lines or re.match(f\"^\\s*$\", lines[-1]):\n",
    "            #print(f\"No data for {topic}\")\n",
    "            continue\n",
    "\n",
    "        line_pattern = re.compile(r\"(?P<bw>[0-9.]+ [KM]?)B/s from (?P<n_msgs>[0-9.]+) messages --- Message size mean: (?P<mean>[0-9.]+ [KM]?)B min: (?P<min>[0-9.]+ [KM]?)B max: (?P<max>[0-9.]+ [KM]?)B\\n\")\n",
    "        m = re.fullmatch(line_pattern, lines[-1])\n",
    "        if m is None:\n",
    "            print(f\"Line could not be parsed in {topic}: '{lines[-1]}'\")\n",
    "            continue\n",
    "\n",
    "        msg_sizes[topic] = {'bw': parse_bytes(m.group(\"bw\")),\n",
    "                            'min': parse_bytes(m.group(\"min\")),\n",
    "                            'mean': parse_bytes(m.group(\"mean\")),\n",
    "                            'max': parse_bytes(m.group(\"max\"))}\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 29,
   "metadata": {
    "pycharm": {
     "name": "#%%\n"
    }
   },
   "outputs": [],
   "source": [
    "%%skip_if_false E2E_ENABLED\n",
    "\n",
    "\n",
    "from latency_graph.message_tree import DepTree\n",
    "\n",
    "def leaf_topics(tree: DepTree, lvl=0):\n",
    "    ret_list = []\n",
    "    match tree.head:\n",
    "        case TrPublishInstance(publisher=pub):\n",
    "            if pub:\n",
    "                ret_list += [(lvl, pub.topic_name)]\n",
    "    ret_list += [(lvl, None)]\n",
    "\n",
    "    for dep in tree.deps:\n",
    "        ret_list += leaf_topics(dep, lvl+1)\n",
    "    return ret_list\n",
    "\n",
    "\n",
    "def all_e2es(tree: DepTree, t_start=None):\n",
    "    if t_start is None:\n",
    "        t_start = tree.head.timestamp\n",
    "\n",
    "    if not tree.deps:\n",
    "        return [t_start - tree.head.timestamp]\n",
    "\n",
    "    ret_list = []\n",
    "    for dep in tree.deps:\n",
    "        ret_list += all_e2es(dep, t_start)\n",
    "    return ret_list\n",
    "\n",
    "\n",
    "def relevant_e2es(tree: DepTree, input_topic_patterns, t_start=None, path=None):\n",
    "    if t_start is None:\n",
    "        t_start = tree.head.timestamp\n",
    "\n",
    "    if path is None:\n",
    "        path = []\n",
    "\n",
    "    latency = t_start - tree.head.timestamp\n",
    "    if latency > E2E_TIME_LIMIT_S:\n",
    "        return []\n",
    "\n",
    "    new_path = [tree.head] + path\n",
    "\n",
    "    if not tree.deps:\n",
    "        match tree.head:\n",
    "            case TrPublishInstance(publisher=pub):\n",
    "                if pub and any(re.search(f, pub.topic_name) for f in input_topic_patterns):\n",
    "                    return [(latency,new_path)]\n",
    "\n",
    "    ret_list = []\n",
    "    for dep in tree.deps:\n",
    "        ret_list += relevant_e2es(dep, input_topic_patterns, t_start, new_path)\n",
    "    return ret_list\n",
    "\n",
    "\n",
    "e2ess = []\n",
    "e2e_pathss = []\n",
    "for tree in trees:\n",
    "    e2es, e2e_paths = zip(*relevant_e2es(tree, [\"\"]))\n",
    "    e2ess.append(e2es)\n",
    "    e2e_pathss.append(e2e_paths)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 30,
   "metadata": {
    "pycharm": {
     "name": "#%%\n"
    }
   },
   "outputs": [],
   "source": [
    "#from matplotlib.animation import FuncAnimation\n",
    "#from IPython import display\n",
    "\n",
    "#fig, ax = plt.subplots(figsize=(16, 9))\n",
    "#ax: plt.Axes\n",
    "#ax.set_xlim(0, 4)\n",
    "\n",
    "#ax.hist([], bins=200, range=(0, 4), histtype='stepfilled')\n",
    "#ax.set_title(\"Time: 0.000000s\")\n",
    "\n",
    "#def anim(frame):\n",
    "#    print(frame, end='\\r')\n",
    "#    ax.clear()\n",
    "#    ax.hist(e2es[frame], bins=200, range=(0, 4), histtype='stepfilled')\n",
    "#    ax.set_title(f\"Time: {(trees[frame].head.timestamp - trees[0].head.timestamp):.6}s\")\n",
    "\n",
    "\n",
    "#anim_created = FuncAnimation(fig, anim, min(len(trees), 10000), interval=16, repeat_delay=200)\n",
    "\n",
    "#video = anim_created.save(\"anim.mp4\", dpi=120)\n",
    "\n",
    "#for tree in trees:\n",
    "#    path = tree.critical_path(start_topic_filters)\n",
    "#    for i, inst in enumerate(path[::-1]):\n",
    "#        match inst:\n",
    "#            case TrPublishInstance(publisher=pub):\n",
    "#                print(f\"  {i:>3d}: T\", pub.topic_name)\n",
    "#            case TrCallbackInstance(callback_obj=cb):\n",
    "#                match cb.owner:\n",
    "#                    case TrSubscriptionObject(subscription=sub):\n",
    "#                        node = sub.node\n",
    "#                    case TrTimer() as tmr:\n",
    "#                        node = tmr.node\n",
    "#                    case _:\n",
    "#                        raise ValueError(f\"Callback owner type not recognized: {type(cb.owner).__name__}\")\n",
    "#\n",
    "#                print(f\"  {i:>3d}: N\", node.path)\n",
    "#    print(\"==================\")\n"
   ]
  },
  {
   "cell_type": "code",
   "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",
    "\n",
    "\n",
    "fig, ax = plt.subplots(figsize=(18, 9), num=\"e2e_plot\")\n",
    "DS=1\n",
    "times = [tree.head.timestamp - trees[0].head.timestamp for tree in trees[::DS]]\n",
    "\n",
    "ax2 = ax.twinx()\n",
    "ax2.plot(times, list(map(lambda paths: sum(map(len, paths)) / len(paths), e2e_pathss[::DS])), color=\"orange\")\n",
    "ax2.fill_between(times,\n",
    "                 list(map(lambda paths: min(map(len, paths)), e2e_pathss[::DS])),\n",
    "                 list(map(lambda paths: max(map(len, paths)), e2e_pathss[::DS])),\n",
    "                 alpha=.3, color=\"orange\")\n",
    "\n",
    "ax.plot(times, [np.mean(e2es) for e2es in e2ess[::DS]])\n",
    "ax.fill_between(times, [np.min(e2es) for e2es in e2ess[::DS]], [np.max(e2es) for e2es in e2ess[::DS]], alpha=.3)\n",
    "\n",
    "def scatter_topic(topic_name, y=0, **scatter_kwargs):\n",
    "    for pub in topics.by_name[topic_name].publishers:\n",
    "        if not pub:\n",
    "            continue\n",
    "\n",
    "        inst_timestamps = [inst.timestamp - trees[0].head.timestamp for inst in pub.instances if inst.timestamp >= trees[0].head.timestamp]\n",
    "        scatter_kwargs_default = {\"marker\": \"x\", \"color\": \"indianred\"}\n",
    "        scatter_kwargs_default.update(scatter_kwargs)\n",
    "        ax.scatter(inst_timestamps, np.full(len(inst_timestamps), fill_value=y), **scatter_kwargs_default)\n",
    "\n",
    "scatter_topic(\"/autoware/engage\")\n",
    "scatter_topic(\"/planning/scenario_planning/parking/trajectory\", y=-.04, color=\"cadetblue\")\n",
    "scatter_topic(\"/planning/scenario_planning/lane_driving/trajectory\", y=-.08, color=\"darkgreen\")\n",
    "\n",
    "ax.set_xlabel(\"Simulation time [s]\")\n",
    "ax.set_ylabel(\"End-to-End latency [s]\")\n",
    "ax2.set_ylabel(\"End-to-End path length\")\n",
    "None"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 32,
   "metadata": {
    "pycharm": {
     "name": "#%%\n"
    }
   },
   "outputs": [],
   "source": [
    "%%skip_if_false E2E_ENABLED\n",
    "\n",
    "def critical_path(self):\n",
    "    if not self.deps:\n",
    "        return [self.head]\n",
    "    return [self.head, *min(map(critical_path, self.deps), key=lambda ls: ls[-1].timestamp)]\n",
    "\n",
    "\n",
    "def e2e_lat(self):\n",
    "    return self.head.timestamp - critical_path(self)[-1].timestamp\n",
    "\n",
    "\n",
    "def get_relevant_tree(tree: DepTree, accept_leaf=lambda x: True, root=None):\n",
    "    if root is None:\n",
    "        root = tree.head\n",
    "    if not tree.deps:\n",
    "        if accept_leaf(tree.head, root):\n",
    "            return tree\n",
    "        return None\n",
    "\n",
    "    relevant_deps = [get_relevant_tree(dep, accept_leaf, root) for dep in tree.deps]\n",
    "    if not any(relevant_deps):\n",
    "        return None\n",
    "\n",
    "    return DepTree(tree.head, [dep for dep in relevant_deps if dep])\n",
    "\n",
    "\n",
    "def fanout(self):\n",
    "    if not self.deps:\n",
    "        return 1\n",
    "\n",
    "    return sum(map(fanout, self.deps))\n",
    "\n",
    "\n",
    "def sort_subtree(subtree: DepTree, sort_func=lambda t: t.head.timestamp - e2e_lat(t)):\n",
    "    subtree.deps.sort(key=sort_func)\n",
    "    for dep in subtree.deps:\n",
    "        sort_subtree(dep, sort_func)\n",
    "    return subtree\n",
    "\n",
    "def _leaf_filter(inst, root):\n",
    "    if root.timestamp - inst.timestamp > E2E_TIME_LIMIT_S:\n",
    "        return False\n",
    "\n",
    "    match inst:\n",
    "        case TrPublishInstance(publisher=pub):\n",
    "            return pub and any(f in pub.topic_name for f in E2E_INPUT_TOPIC_PATTERNS)\n",
    "    return False\n",
    "\n",
    "\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": 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",
    "\n",
    "from cycler import cycler\n",
    "\n",
    "def dict_safe_append(dictionary, key, value):\n",
    "    if key not in dictionary:\n",
    "        dictionary[key] = []\n",
    "    dictionary[key].append(value)\n",
    "\n",
    "\n",
    "fig, (ax, ax_rel) = plt.subplots(2, 1, sharex=True, figsize=(60, 30), num=\"crit_plot\")\n",
    "ax.set_prop_cycle(cycler('color', [plt.cm.nipy_spectral(i/4) for i in range(5)]))\n",
    "ax_rel.set_prop_cycle(cycler('color', [plt.cm.nipy_spectral(i/4) for i in range(5)]))\n",
    "\n",
    "critical_paths = [critical_path(tree) for tree in relevant_trees[::DS]]\n",
    "\n",
    "time_breakdown = {}\n",
    "\n",
    "for path in critical_paths:\n",
    "    tmr_cb_calc_time = 0.0\n",
    "    sub_cb_calc_time = 0.0\n",
    "    tmr_cb_relevant_time = 0.0\n",
    "    sub_cb_relevant_time = 0.0\n",
    "    dds_time = 0.0\n",
    "    idle_time = 0.0\n",
    "\n",
    "    last_pub_time = None\n",
    "    last_cb_time = None\n",
    "    for inst in path:\n",
    "        match inst:\n",
    "            case TrPublishInstance(timestamp=t):\n",
    "                assert last_pub_time is None, \"Two publication without callback inbetween\"\n",
    "\n",
    "                if last_cb_time is not None:\n",
    "                    dds_time += last_cb_time - t\n",
    "\n",
    "                last_pub_time = t\n",
    "                last_cb_time = None\n",
    "            case TrCallbackInstance(callback_obj=cb, timestamp=t, duration=d):\n",
    "                if last_pub_time is not None:\n",
    "                    assert last_pub_time <= t+d, \"Publication out of CB instance timeframe\"\n",
    "\n",
    "                    match cb.owner:\n",
    "                        case TrTimer():\n",
    "                            tmr_cb_calc_time += d\n",
    "                            tmr_cb_relevant_time += last_pub_time - t\n",
    "                        case TrSubscriptionObject():\n",
    "                            sub_cb_calc_time += d\n",
    "                            sub_cb_relevant_time += last_pub_time - t\n",
    "                elif last_cb_time is not None:\n",
    "                    idle_time += last_cb_time - (t + d)\n",
    "                last_pub_time = None\n",
    "                last_cb_time = t\n",
    "\n",
    "    dict_safe_append(time_breakdown, \"Timer CB\", tmr_cb_relevant_time)\n",
    "    dict_safe_append(time_breakdown, \"Subscription CB\", sub_cb_relevant_time)\n",
    "    dict_safe_append(time_breakdown, \"DDS\", dds_time)\n",
    "    dict_safe_append(time_breakdown, \"Idle\", idle_time)\n",
    "\n",
    "time_breakdown = {k: np.array(v) for k, v in time_breakdown.items()}\n",
    "\n",
    "timer_cb_times = [sum(inst.duration for inst in path if isinstance(inst, TrCallbackInstance) and isinstance(inst.callback_obj, TrTimer)) for path in critical_paths]\n",
    "sub_cb_times = [sum(inst.duration for inst in path if isinstance(inst, TrCallbackInstance)) for path in critical_paths]\n",
    "\n",
    "labels, values = list(zip(*time_breakdown.items()))\n",
    "\n",
    "#ax.plot(range(len(relevant_trees[::DS])), [e2e_lat(tree) for tree in relevant_trees[::DS]], label=\"Total E2E\")\n",
    "ax.stackplot(range(len(relevant_trees[::DS])), values, labels=labels)\n",
    "ax.legend()\n",
    "ax.set_title(\"End-to-End Latency Breakdown\")\n",
    "ax.set_ylabel(\"End-to-End Latency [s]\")\n",
    "\n",
    "timestep_mags = np.array([sum(vs) for vs in zip(*values)])\n",
    "ax_rel.stackplot(range(len(relevant_trees[::DS])), [val / timestep_mags for val in values], labels=labels)\n",
    "ax_rel.set_title(\"End-to-End Latency Breakdown (relative)\")\n",
    "ax_rel.set_ylabel(\"End-to-End Latency Fraction\")\n",
    "ax_rel.set_xlabel(\"Timestep\")\n",
    "ax_rel.legend()\n",
    "\n",
    "None"
   ]
  },
  {
   "cell_type": "code",
   "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",
    "\n",
    "from scipy import stats\n",
    "\n",
    "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",
    "\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",
    "ax.set_ylabel(\"Frequency\")\n",
    "ax.set_xlim(0, 2.01)\n",
    "ax.set_ylim(0, ax.get_ylim()[1])\n",
    "ax.legend()\n",
    "\n",
    "None"
   ]
  },
  {
   "cell_type": "code",
   "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",
    "\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",
    "e2es = e2ess[E2E_PLOT_TIMESTAMP]\n",
    "e2e_paths = e2e_pathss[E2E_PLOT_TIMESTAMP]\n",
    "margin_y = .2\n",
    "margin_x=0\n",
    "arr_width= 1 - margin_y\n",
    "\n",
    "def cb_str(inst: TrCallbackInstance):\n",
    "    cb: TrCallbackObject = inst.callback_obj\n",
    "    if not cb:\n",
    "        return None\n",
    "    ret_str = f\"- {inst.duration*1e3:07.3f}ms \"\n",
    "    #if cb.callback_symbol:\n",
    "    #    ret_str = repr(sanitize(cb.callback_symbol.symbol))\n",
    "\n",
    "    match cb.owner:\n",
    "        case TrSubscriptionObject(subscription=sub):\n",
    "            sub: TrSubscription\n",
    "            ret_str = f\"{ret_str}{sub.node.path if sub.node else None} <- {sub.topic_name}\"\n",
    "        case TrTimer(period=p, node=node):\n",
    "            p: int\n",
    "            node: TrNode\n",
    "            ret_str = f\"{ret_str}{node.path if node else None} <- @{1/(p*1e-9):.2f}Hz\"\n",
    "    return ret_str\n",
    "\n",
    "\n",
    "def ts_str(inst, prev):\n",
    "    return f\"{(inst.timestamp - prev)*1e3:+09.3f}ms\"\n",
    "\n",
    "def bw_str(bw):\n",
    "    return bytes_str(bw['mean'])\n",
    "\n",
    "def trunc_chars(string, w, e2e):\n",
    "    if w < e2e * .005:\n",
    "        return \"\"\n",
    "    n_chars = max(math.floor(w / (e2e * .17) * 65) - 5, 0)\n",
    "    if n_chars < 4:\n",
    "        return \"\"\n",
    "\n",
    "    return \"...\" + string[-n_chars:] if n_chars < len(string) else string\n",
    "\n",
    "#e2e_paths = sorted(e2e_paths, key=lambda path: path[-1].timestamp - path[0].timestamp, reverse=True)\n",
    "#for y, e2e_path in reversed(list(enumerate(e2e_paths))):\n",
    "#    last_pub_ts = None\n",
    "#    last_cb_end = None\n",
    "#    print(f\"=== {y}:\")\n",
    "#    for inst in e2e_path:\n",
    "\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",
    "t_e2e = t_start - t_min\n",
    "\n",
    "legend_entries = {}\n",
    "\n",
    "def plot_subtree(subtree: DepTree, ax: plt.Axes, y_labels, y=0, next_cb_start=0):\n",
    "    height = fanout(subtree)\n",
    "    inst = subtree.head\n",
    "\n",
    "    match inst:\n",
    "        case TrCallbackInstance(timestamp=t_cb, duration=d_cb):\n",
    "            is_sub = isinstance(inst.callback_obj.owner, TrSubscriptionObject)\n",
    "\n",
    "            r_x = t_cb - t_start + margin_x / 2\n",
    "            r_y = y + margin_y / 2\n",
    "            r_w = max(d_cb - margin_x, 0)\n",
    "            r_h = height - margin_y\n",
    "\n",
    "            r = mpatch.Rectangle((r_x, r_y), r_w, r_h,\n",
    "                                 ec=\"cadetblue\" if is_sub else \"indianred\", fc=\"lightblue\" if is_sub else \"lightcoral\", zorder=9000)\n",
    "            ax.add_artist(r)\n",
    "\n",
    "            text = repr(sanitize(inst.callback_obj.callback_symbol.symbol)) if inst.callback_obj and inst.callback_obj.callback_symbol else \"??\"\n",
    "            text = trunc_chars(text, r_w, t_e2e)\n",
    "            if text:\n",
    "                ax.text(r_x + r_w / 2, r_y + r_h / 2, text, ha=\"center\", va=\"center\", backgroundcolor=(1,1,1,.5), zorder=11000)\n",
    "\n",
    "            if is_sub and \"Subscription CB\" not in legend_entries:\n",
    "                legend_entries[\"Subscription CB\"] = r\n",
    "            elif not is_sub and \"Timer CB\" not in legend_entries:\n",
    "                legend_entries[\"Timer CB\"] = r\n",
    "\n",
    "            if next_cb_start is not None:\n",
    "                r_x = t_cb - t_start + d_cb - margin_x / 2\n",
    "                r_y = y + .5 - arr_width/2\n",
    "                r_w = next_cb_start - (t_cb + d_cb) + margin_x\n",
    "                r_h = arr_width\n",
    "                r = mpatch.Rectangle((r_x, r_y), r_w, r_h, color=\"orange\")\n",
    "                ax.add_artist(r)\n",
    "\n",
    "                if is_sub:\n",
    "                    node = inst.callback_obj.owner.subscription.node\n",
    "                else:\n",
    "                    node = inst.callback_obj.owner.node\n",
    "                text = node.path\n",
    "\n",
    "                text = trunc_chars(text, r_w, t_e2e)\n",
    "                if text:\n",
    "                    ax.text(r_x + r_w / 2, r_y + r_h / 2, text, ha=\"center\", va=\"center\", backgroundcolor=(1,1,1,.5), zorder=11000)\n",
    "\n",
    "                if \"Idle\" not in legend_entries:\n",
    "                    legend_entries[\"Idle\"] = r\n",
    "\n",
    "            next_cb_start = t_cb\n",
    "        case TrPublishInstance(timestamp=t_pub, publisher=pub):\n",
    "            if not subtree.deps:\n",
    "                y_labels.append(pub.topic_name if pub else None)\n",
    "\n",
    "            scatter = ax.scatter(t_pub - t_start, y+.5, color=\"cyan\", marker=\".\", zorder=10000)\n",
    "\n",
    "            if \"Publication\" not in legend_entries:\n",
    "                legend_entries[\"Publication\"] = scatter\n",
    "\n",
    "            if next_cb_start is not None:\n",
    "                r_x = t_pub - t_start\n",
    "                r_y = y + .5 - arr_width/2\n",
    "                r_w = max(next_cb_start - t_pub + margin_x / 2, 0)\n",
    "                r = mpatch.Rectangle((r_x, r_y), r_w, arr_width, color=\"lightgreen\")\n",
    "                ax.add_artist(r)\n",
    "                if pub:\n",
    "                    text = pub.topic_name\n",
    "                    text = trunc_chars(text, r_w, t_e2e)\n",
    "                    if text:\n",
    "                        ax.text(r_x + r_w / 2, r_y + arr_width / 2, text, ha=\"center\", va=\"center\", backgroundcolor=(1,1,1,.5), zorder=11000)\n",
    "\n",
    "                if \"DDS\" not in legend_entries:\n",
    "                    legend_entries[\"DDS\"] = r\n",
    "\n",
    "                topic_stats = msg_sizes.get(pub.topic_name) if BW_ENABLED else None\n",
    "                if topic_stats:\n",
    "                    size_str = bw_str(topic_stats)\n",
    "                    ax.text(r_x + r_w / 2, r_y + arr_width + margin_y, size_str, ha=\"center\", backgroundcolor=(1,1,1,.5), zorder=11000)\n",
    "            else:\n",
    "                print(\"[WARN] Tried to publish to another PublishInstance\")\n",
    "            next_cb_start = None\n",
    "\n",
    "    acc_fanout = 0\n",
    "    for dep in subtree.deps:\n",
    "        acc_fanout += plot_subtree(dep, ax, y_labels, y + acc_fanout, next_cb_start)\n",
    "    return height\n",
    "\n",
    "\n",
    "\n",
    "fig, ax = plt.subplots(figsize=(36, 20), num=\"path_viz\")\n",
    "ax.set_ylim(0, len(e2es))\n",
    "\n",
    "y_labels = []\n",
    "plot_subtree(tree, ax, y_labels)\n",
    "\n",
    "tree_e2e = e2e_lat(tree)\n",
    "plot_margin_x = .01 * tree_e2e\n",
    "ax.set_xlim(-tree_e2e - plot_margin_x, plot_margin_x)\n",
    "ax.set_yticks(np.array(range(len(y_labels))) + .5, y_labels)\n",
    "ax.set_title(f\"Timestep {E2E_PLOT_TIMESTAMP}: {(tree.head.timestamp - trees[0].head.timestamp):10.6f}s\")\n",
    "ax.set_xlabel(\"Time relative to output message [s]\")\n",
    "ax.set_ylabel(\"Start topic\")\n",
    "\n",
    "labels, handles = list(zip(*legend_entries.items()))\n",
    "ax.legend(handles, labels)\n",
    "print(len(y_labels))"
   ]
  },
  {
   "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"
   ]
  },
  {
   "cell_type": "code",
   "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",
    "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",
    "for tree in tqdm(trees):\n",
    "    crit = critical_path(tree)\n",
    "\n",
    "    def _owner(inst):\n",
    "        match inst:\n",
    "            case TrCallbackInstance(callback_obj=cb_obj):\n",
    "                cb_obj: TrCallbackObject\n",
    "                if cb_obj and cb_obj.callback_symbol:\n",
    "                    sym = repr(sanitize(cb_obj.callback_symbol.symbol))\n",
    "                else:\n",
    "                    sym = str(cb_obj.id)\n",
    "                return sym\n",
    "            case TrPublishInstance(publisher=pub):\n",
    "                pub: TrPublisher\n",
    "                topic = pub.topic_name\n",
    "                return topic\n",
    "            case _:\n",
    "                raise ValueError()\n",
    "\n",
    "    key = tuple(map(_owner, crit[::-1]))\n",
    "    if key not in critical_paths:\n",
    "        critical_paths[key] = []\n",
    "    critical_paths[key].append(crit)\n",
    "\n",
    "items = list(critical_paths.items())\n",
    "items.sort(key=lambda pair: len(pair[1]), reverse=True)\n",
    "\n",
    "out_df = pd.DataFrame(columns=[\"path\", \"timestamp\", \"e2e_latency\"])\n",
    "for key, paths in items:\n",
    "    path_records = [(\" -> \".join(key), p[0].timestamp, p[0].timestamp - p[-1].timestamp) for p in paths]\n",
    "    out_df.append(path_records)\n",
    "    print(f\"======== {len(paths)}x: {sum(map(lambda p: p[0].timestamp - p[-1].timestamp, paths))/len(paths)*1000:.3f}ms\")\n",
    "    paths_durations = []\n",
    "    for path in paths:\n",
    "        next_inst = None\n",
    "        durations = []\n",
    "        for inst in path:\n",
    "            match inst:\n",
    "                case TrCallbackInstance(timestamp=t, duration=d):\n",
    "                    if not next_inst:\n",
    "                        durations.append(d)\n",
    "                    else:\n",
    "                        durations.append(min(d, next_inst.timestamp - t))\n",
    "                case TrPublishInstance(timestamp=t):\n",
    "                    if not next_inst:\n",
    "                        durations.append(0.0)\n",
    "                    else:\n",
    "                        durations.append(next_inst.timestamp - t)\n",
    "                case _:\n",
    "                    raise ValueError()\n",
    "            next_inst = inst\n",
    "        paths_durations.append(durations)\n",
    "\n",
    "    durations = list(map(lambda l: sum(l) / len(l), zip(*paths_durations)))[::-1]\n",
    "    assert len(durations) == len(key)\n",
    "    perc = np.percentile(durations, [70, 90, 95, 100])\n",
    "    colors = [\"green\", \"yellow\", \"red\", \"magenta\"]\n",
    "    for part, duration in zip(key, durations):\n",
    "        E2E_PLOT_TIMESTAMP = 0\n",
    "        for j, p in enumerate(perc):\n",
    "            if duration < p:\n",
    "                break\n",
    "            E2E_PLOT_TIMESTAMP = j\n",
    "        dur_str = colored(f\"{duration * 1000 :>.3f}ms\", colors[E2E_PLOT_TIMESTAMP])\n",
    "        print(f\"  -> {dur_str} {part}\")\n",
    "\n",
    "out_df.to_csv(os.path.join(OUT_PATH, \"e2e.csv\"), sep=\"\\t\")"
   ]
  },
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   "source": []
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