dataflow-analysis/trace-analysis.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "import os\n",
    "import sys\n",
    "import numpy as np\n",
    "import pandas as pd\n",
    "from matplotlib import pyplot as plt\n",
    "\n",
    "from IPython.display import display, clear_output\n",
    "\n",
    "sys.path.append(\"../ros2_tracing/tracetools_read\")\n",
    "sys.path.append(\"../tracetools_analysis/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 dataclasses import dataclass\n",
    "from typing import List, Dict, Set, Union, Tuple\n",
    "from functools import cached_property\n",
    "import pickle\n",
    "import re\n",
    "\n",
    "from utils import ProgressPrinter"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "def pkl_filename_from_file_timestamp(file_path):\n",
    "    if os.path.exists(file_path):\n",
    "        timestamp = os.path.getmtime(file_path)\n",
    "        pkl_filename = f\"ros_objects_{hash(timestamp)}.pkl\"\n",
    "        return pkl_filename, os.path.exists(pkl_filename)\n",
    "    return None, False\n",
    "\n",
    "path = os.path.expanduser(\"./\")\n",
    "path_converted = os.path.join(path, 'converted')\n",
    "pkl_filename, pkl_exists = pkl_filename_from_file_timestamp(path_converted)\n",
    "\n",
    "if not pkl_exists:\n",
    "    file = load_file(path)\n",
    "    handler = Ros2Handler.process(file)\n",
    "    util = Ros2DataModelUtil(handler)\n",
    "    pkl_filename, pkl_exists = pkl_filename_from_file_timestamp(path_converted)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "if False:\n",
    "    n=3\n",
    "    self = handler.data\n",
    "    print('====================ROS 2 DATA MODEL===================')\n",
    "    print('██ Contexts: ██')\n",
    "    print(self.contexts[:n].to_string())\n",
    "    print('██ Nodes: ██')\n",
    "    print(self.nodes[:n].to_string())\n",
    "    print('██ Publishers (rmw): ██')\n",
    "    print(self.rmw_publishers[:n].to_string())\n",
    "    print('██ Publishers (rcl): ██')\n",
    "    print(self.rcl_publishers[:n].to_string())\n",
    "    print('██ Subscriptions (rmw): ██')\n",
    "    print(self.rmw_subscriptions[:n].to_string())\n",
    "    print('██ Subscriptions (rcl): ██')\n",
    "    print(self.rcl_subscriptions[:n].to_string())\n",
    "    print('██ Subscription objects: ██')\n",
    "    print(self.subscription_objects[:n].to_string())\n",
    "    print('██ Services: ██')\n",
    "    print(self.services[:n].to_string())\n",
    "    print('██ Clients: ██')\n",
    "    print(self.clients[:n].to_string())\n",
    "    print('██ Timers: ██')\n",
    "    print(self.timers[:n].to_string())\n",
    "    print('██ Timer-node links: ██')\n",
    "    print(self.timer_node_links[:n].to_string())\n",
    "    print('██ Callback objects: ██')\n",
    "    print(self.callback_objects[:n].to_string())\n",
    "    print('██ Callback symbols: ██')\n",
    "    print(self.callback_symbols[:n].to_string())\n",
    "    print('██ Callback instances: ██')\n",
    "    print(self.callback_instances[:n].to_string())\n",
    "    print('██ Publish instances (rclcpp): ██')\n",
    "    print(self.rclcpp_publish_instances[:n].to_string())\n",
    "    print('██ Publish instances (rcl): ██')\n",
    "    print(self.rcl_publish_instances[:n].to_string())\n",
    "    print('██ Publish instances (rmw): ██')\n",
    "    print(self.rmw_publish_instances[:n].to_string())\n",
    "    print('██ Take instances (rmw): ██')\n",
    "    print(self.rmw_take_instances[:n].to_string())\n",
    "    print('██ Take instances (rcl): ██')\n",
    "    print(self.rcl_take_instances[:n].to_string())\n",
    "    print('██ Take instances (rclcpp): ██')\n",
    "    print(self.rclcpp_take_instances[:n].to_string())\n",
    "    print('██ Lifecycle state machines: ██')\n",
    "    print(self.lifecycle_state_machines[:n].to_string())\n",
    "    print('██ Lifecycle transitions: ██')\n",
    "    print(self.lifecycle_transitions[:n].to_string())\n",
    "    print('==================================================')"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Data Structures"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [],
   "source": [
    "def str_to_cls(classname):\n",
    "    return getattr(sys.modules[__name__], classname)\n",
    "\n",
    "def row_to_type(row, type, has_idx):\n",
    "    return type(id=row.name, **row) if has_idx else type(**row)\n",
    "\n",
    "def df_to_type_list(df, type):\n",
    "    if isinstance(type, str):\n",
    "        type = str_to_cls(type)\n",
    "        \n",
    "    has_idx = not isinstance(df.index, pd.RangeIndex)\n",
    "    return [row_to_type(row, type, has_idx) for _, row in df.iterrows()]\n",
    "\n",
    "def by_index(df, index, type):\n",
    "    return df_to_type_list(df.loc[index], type)\n",
    "\n",
    "def by_column(df, column_name, column_val, type):\n",
    "    return df_to_type_list(df[df[column_name] == column_val], type)\n",
    "\n",
    "def list_to_dict(ls, key='id'):\n",
    "    return {getattr(item, key): item for item in ls}\n",
    "\n",
    "#################################\n",
    "# Predefined (from ROS2DataModel)\n",
    "#################################\n",
    "\n",
    "@dataclass\n",
    "class Node:\n",
    "    id: int\n",
    "    timestamp: int\n",
    "    tid: int\n",
    "    rmw_handle: int\n",
    "    name: str\n",
    "    namespace: str\n",
    "\n",
    "    @cached_property\n",
    "    def path(self) -> str:\n",
    "        return '/'.join((self.namespace, self.name))\n",
    "\n",
    "    @cached_property\n",
    "    def publishers(self) -> List['Publisher']:\n",
    "        return list(filter(lambda pub: pub.node_handle == self.id, publishers.values()))\n",
    "\n",
    "    @cached_property\n",
    "    def subscriptions(self) -> List['Subscription']:\n",
    "        return list(filter(lambda sub: sub.node_handle == self.id, subscriptions.values()))\n",
    "    \n",
    "    @cached_property\n",
    "    def timers(self) -> List['Timer']:\n",
    "        links = [link.id for link in timer_node_links.values() if link.node_handle == self.id]\n",
    "        return list(filter(lambda timer: timer.id in links, timers.values()))\n",
    "\n",
    "    def __hash__(self):\n",
    "        return hash(self.id)\n",
    "\n",
    "@dataclass\n",
    "class Publisher:\n",
    "    id: int\n",
    "    timestamp: int\n",
    "    node_handle: int\n",
    "    rmw_handle: int\n",
    "    topic_name: str\n",
    "    depth: int\n",
    "\n",
    "    @property\n",
    "    def node(self) -> 'Node':\n",
    "        return nodes[self.node_handle]\n",
    "\n",
    "    @cached_property\n",
    "    def subscriptions(self) -> List['Subscription']:\n",
    "        return list(filter(lambda sub: sub.topic_name == self.topic_name, subscriptions.values()))\n",
    "\n",
    "    @cached_property\n",
    "    def instances(self) -> List['PublishInstance']:\n",
    "        return list(filter(lambda inst: inst.publisher_handle == self.id, publish_instances))\n",
    "    \n",
    "    @property\n",
    "    def topic(self) -> 'Topic':\n",
    "        return topics[self.topic_name]\n",
    "\n",
    "    def __hash__(self):\n",
    "        return hash(self.id)\n",
    "\n",
    "\n",
    "@dataclass\n",
    "class Subscription:\n",
    "    id: int\n",
    "    timestamp: int\n",
    "    node_handle: int\n",
    "    rmw_handle: int\n",
    "    topic_name: str\n",
    "    depth: int\n",
    "\n",
    "    @property\n",
    "    def node(self) -> 'Node':\n",
    "        return nodes[self.node_handle]\n",
    "\n",
    "    @cached_property\n",
    "    def publishers(self) -> List['Publisher']:\n",
    "        return list(filter(lambda pub: pub.topic_name == self.topic_name, publishers.values()))\n",
    "    \n",
    "    @cached_property\n",
    "    def subscription_object(self) -> 'SubscriptionObject':\n",
    "        sub_objs = list(filter(lambda sub_obj: sub_obj.subscription_handle == self.id, subscription_objects.values()))\n",
    "        assert len(sub_objs) <= 1\n",
    "        return sub_objs[0] if sub_objs else None\n",
    "\n",
    "    @property\n",
    "    def topic(self) -> 'Topic':\n",
    "        return topics[self.topic_name]\n",
    "\n",
    "    def __hash__(self):\n",
    "        return hash(self.id)\n",
    "    \n",
    "@dataclass\n",
    "class Timer:\n",
    "    id: int\n",
    "    timestamp: int\n",
    "    period: int\n",
    "    tid: int\n",
    "\n",
    "    @cached_property\n",
    "    def nodes(self) -> List['Node']:\n",
    "        links = [link.node_handle for link in timer_node_links.values() if link.id == self.id]\n",
    "        return list(filter(lambda node: node.id in links, nodes.values()))\n",
    "    \n",
    "    @property\n",
    "    def callback_object(self) -> 'CallbackObject':\n",
    "        return callback_objects[self.id]\n",
    "\n",
    "    def __hash__(self):\n",
    "        return hash(self.id)\n",
    "\n",
    "@dataclass\n",
    "class TimerNodeLink:\n",
    "    id: int\n",
    "    timestamp: int\n",
    "    node_handle: int\n",
    "\n",
    "@dataclass\n",
    "class SubscriptionObject:\n",
    "    id: int             # subscription\n",
    "    timestamp: int\n",
    "    subscription_handle: int\n",
    "\n",
    "    @property\n",
    "    def subscription(self) -> 'Subscription':\n",
    "        return subscriptions[self.subscription_handle]\n",
    "\n",
    "    @property\n",
    "    def callback_object(self) -> 'CallbackObject':\n",
    "        return callback_objects[self.id]\n",
    "\n",
    "    def __hash__(self):\n",
    "        return hash((self.id, self.timestamp, self.subscription_handle))\n",
    "\n",
    "@dataclass\n",
    "class CallbackObject:\n",
    "    id: int             # (reference) = subscription_object.id | timer.id | ....\n",
    "    timestamp: int\n",
    "    callback_object: int\n",
    "\n",
    "    @cached_property\n",
    "    def callback_instances(self) -> List['CallbackInstance']:\n",
    "        return list(filter(lambda inst: inst.callback_object == self.callback_object, callback_instances))\n",
    "\n",
    "    @cached_property\n",
    "    def owner(self):\n",
    "        if self.id in timers:\n",
    "            return timers[self.id]\n",
    "        if self.id in publishers:\n",
    "            return publishers[self.id]\n",
    "        if self.id in subscription_objects:\n",
    "            return subscription_objects[self.id]\n",
    "        if self.id in handler.data.services.index:\n",
    "            return 'Service'\n",
    "        if self.id in handler.data.clients.index:\n",
    "            return 'Client'\n",
    "        return None\n",
    "\n",
    "    @cached_property\n",
    "    def owner_info(self):\n",
    "        info = util.get_callback_owner_info(self.callback_object)\n",
    "        if info is None:\n",
    "            return None, None\n",
    "        \n",
    "        type_name, dict_str = info.split(\" -- \")\n",
    "        kv_strs = dict_str.split(\", \")\n",
    "        info_dict = {k: v for k, v in map(lambda kv_str: kv_str.split(\": \", maxsplit=1), kv_strs)}\n",
    "        return type_name, info_dict\n",
    "\n",
    "    def __hash__(self):\n",
    "        return hash((self.id, self.timestamp, self.callback_object))\n",
    "\n",
    "@dataclass\n",
    "class PublishInstance:\n",
    "    publisher_handle: int\n",
    "    timestamp: int\n",
    "    message: int\n",
    "\n",
    "    @property\n",
    "    def publisher(self) -> 'Publisher':\n",
    "        return publishers[self.publisher_handle]\n",
    "\n",
    "    def __hash__(self):\n",
    "        return hash((self.publisher_handle, self.timestamp, self.message))\n",
    "\n",
    "@dataclass\n",
    "class CallbackInstance:\n",
    "    callback_object: int\n",
    "    timestamp: pd.Timestamp\n",
    "    duration: pd.Timedelta\n",
    "    intra_process: bool\n",
    "\n",
    "    @property\n",
    "    def callback_obj(self) -> 'CallbackObject':\n",
    "        return callback_objects[self.callback_object]\n",
    "\n",
    "    def __hash__(self):\n",
    "        return hash((self.callback_object, self.timestamp, self.duration))\n",
    "\n",
    "@dataclass\n",
    "class CallbackSymbol:\n",
    "    id: int  # callback_object\n",
    "    timestamp: int\n",
    "    symbol: str\n",
    "\n",
    "    @cached_property\n",
    "    def callback_obj(self) -> 'CallbackObject':\n",
    "        cb_objs = list(filter(lambda cb_obj: cb_obj.callback_object == self.id, callback_objects.values()))\n",
    "        assert len(cb_objs) <= 1\n",
    "        return cb_objs[0] if cb_objs else None\n",
    "\n",
    "    def __hash__(self):\n",
    "        return hash((self.id, self.timestamp, self.symbol))\n",
    "\n",
    "\n",
    "#######################################\n",
    "# Self-defined (not from ROS2DataModel)\n",
    "#######################################\n",
    "\n",
    "@dataclass\n",
    "class Topic:\n",
    "    name: str\n",
    "\n",
    "    @cached_property\n",
    "    def publishers(self) -> List['Publisher']:\n",
    "        return list(filter(lambda pub: pub.topic_name == self.name, publishers.values()))\n",
    "    \n",
    "    @cached_property\n",
    "    def subscriptions(self) -> List['Subscription']:\n",
    "        return list(filter(lambda sub: sub.topic_name == self.name, subscriptions.values()))\n",
    "\n",
    "    def __hash__(self):\n",
    "        return hash(self.name)\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Found pickled ROS objects from previous session, restoring...\n",
      "Done.\n"
     ]
    }
   ],
   "source": [
    "\n",
    "if not pkl_exists:\n",
    "    print(\"Did not find pickled ROS objects, extracting...\")\n",
    "    #######################################\n",
    "    # Instantiate collections\n",
    "    #######################################\n",
    "\n",
    "    nodes:                  Dict[int, 'Node']               = list_to_dict(df_to_type_list(handler.data.nodes,                  'Node'));               print(f\"Processed {len(nodes):<8d} nodes\")\n",
    "    publishers:             Dict[int, 'Publisher']          = list_to_dict(df_to_type_list(handler.data.rcl_publishers,         'Publisher'));          print(f\"Processed {len(publishers):<8d} publishers\")\n",
    "    subscriptions:          Dict[int, 'Subscription']       = list_to_dict(df_to_type_list(handler.data.rcl_subscriptions,      'Subscription'));       print(f\"Processed {len(subscriptions):<8d} subscriptions\")\n",
    "    timers:                 Dict[int, 'Timer']              = list_to_dict(df_to_type_list(handler.data.timers,                 'Timer'));              print(f\"Processed {len(timers):<8d} timers\")\n",
    "    timer_node_links:       Dict[int, 'TimerNodeLink']      = list_to_dict(df_to_type_list(handler.data.timer_node_links,       'TimerNodeLink'));      print(f\"Processed {len(timer_node_links):<8d} timer-node links\")\n",
    "    subscription_objects:   Dict[int, 'SubscriptionObject'] = list_to_dict(df_to_type_list(handler.data.subscription_objects,   'SubscriptionObject')); print(f\"Processed {len(subscription_objects):<8d} subscription objects\")\n",
    "    callback_objects:       Dict[int, 'CallbackObject']     = list_to_dict(df_to_type_list(handler.data.callback_objects,       'CallbackObject'));     print(f\"Processed {len(callback_objects):<8d} callback objects\")\n",
    "    callback_symbols:       Dict[int, 'CallbackSymbol']     = list_to_dict(df_to_type_list(handler.data.callback_symbols,       'CallbackSymbol'));     print(f\"Processed {len(callback_symbols):<8d} callback symbols\")\n",
    "    publish_instances:      List['PublishInstance']         =              df_to_type_list(handler.data.rcl_publish_instances,  'PublishInstance');     print(f\"Processed {len(publish_instances):<8d} publish instances\")\n",
    "    callback_instances:     List['CallbackInstance']        =              df_to_type_list(handler.data.callback_instances,     'CallbackInstance');    print(f\"Processed {len(callback_instances):<8d} callback instances\")\n",
    "\n",
    "    _unique_topic_names = {*(pub.topic_name for pub in publishers.values()), *(sub.topic_name for sub in subscriptions.values())}\n",
    "    topics: Dict[str, 'Topic'] = list_to_dict(map(Topic, _unique_topic_names), key=\"name\"); print(f\"Processed {len(topics):<8d} topics\")\n",
    "\n",
    "    print(\"Caching dynamic properties...\")\n",
    "\n",
    "    [(o.path, o.publishers, o.subscriptions, o.timers) for o in nodes.values()]         ; print(\"Cached node properties\")\n",
    "    [(o.instances, o.subscriptions) for o in publishers.values()]                       ; print(\"Cached publisher properties\")\n",
    "    [(o.publishers, o.subscription_object) for o in subscriptions.values()]             ; print(\"Cached subscription properties\")\n",
    "    [(o.nodes) for o in timers.values()]                                                ; print(\"Cached timer properties\")\n",
    "    [(o.callback_instances, o.owner, o.owner_info) for o in callback_objects.values()]  ; print(\"Cached callback object properties\")\n",
    "    [(o.callback_obj) for o in callback_symbols.values()]                               ; print(\"Cached callback symbol properties\")\n",
    "    [(o.publishers, o.subscriptions) for o in topics.values()]                          ; print(\"Cached topic properties\")\n",
    "\n",
    "    fields_to_pickle = [\n",
    "        \"nodes\",\n",
    "        \"publishers\",\n",
    "        \"subscriptions\",\n",
    "        \"timers\",\n",
    "        \"timer_node_links\",\n",
    "        \"subscription_objects\",\n",
    "        \"callback_objects\",\n",
    "        \"callback_symbols\",\n",
    "        \"publish_instances\",\n",
    "        \"callback_instances\",\n",
    "        \"topics\"\n",
    "    ]\n",
    "\n",
    "    pkl_dict = {key: globals()[key] for key in fields_to_pickle}\n",
    "\n",
    "    print(\"Pickling...\")\n",
    "    with open(pkl_filename, \"wb\") as f:\n",
    "        pickle.dump(pkl_dict, f)\n",
    "else:\n",
    "    print(\"Found pickled ROS objects from previous session, restoring...\")\n",
    "    with open(pkl_filename, \"rb\") as f:\n",
    "        pkl_dict = pickle.load(f)\n",
    "        for k, v in pkl_dict.items():\n",
    "            globals()[k] = v\n",
    "\n",
    "print(\"Done.\")\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Callback-Sub & Callback-Timer Links"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "import re\n",
    "\n",
    "sym_table = []\n",
    "\n",
    "for sym in callback_symbols.values():\n",
    "    try:\n",
    "        cbo = list(filter(lambda val: val.callback_object==sym.id, callback_objects.values()))\n",
    "        assert len(cbo) == 1\n",
    "        cbo = cbo[0]\n",
    "    except:\n",
    "        print(len(cbo))\n",
    "        continue\n",
    "    owner_info = cbo.owner_info\n",
    "\n",
    "    if None in owner_info: continue\n",
    "    type, info = owner_info\n",
    "    sym_table.append((sym, type, info))\n",
    "\n",
    "sym_table.sort(key=lambda tup: tup[1])\n",
    "\n",
    "def trim(string, length):\n",
    "    if len(string) > length:\n",
    "        return f\"{string[:length-3]}...\"\n",
    "    return string\n",
    "\n",
    "for sym, type, info in sym_table:\n",
    "    sym: CallbackSymbol\n",
    "    pretty_sym = Ros2DataModelUtil._prettify(None, sym.symbol)\n",
    "    pretty_sym = re.sub(r\"std::shared_ptr<(.*?) *(const)?>\", r\"\\1*\", pretty_sym)\n",
    "    try:\n",
    "        i = len(sym.callback_obj.callback_instances)\n",
    "    except KeyError:\n",
    "        i = -1\n",
    "    print(f\"{trim(pretty_sym, 100):100s}: i={i:>4d} {type:12s} n={info['node']:40s}\", end=' ') \n",
    "    if type == 'Timer':\n",
    "        print(f\"p={info['period']:7s}\")\n",
    "    elif type == 'Subscription':\n",
    "        print(f\"t={info['topic']:30s}\")\n",
    "    else:\n",
    "        print()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Topic-Node Mapping"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "# Aggregate topics that have the same pubs and subs\n",
    "topic_cohorts = {}\n",
    "for topic in topics.values():\n",
    "    key = (frozenset({*(pub.node_handle for pub in topic.publishers)}), frozenset({*(sub.node_handle for sub in topic.subscriptions)}))\n",
    "    if key not in topic_cohorts:\n",
    "        topic_cohorts[key] = []\n",
    "    topic_cohorts[key].append(topic)\n",
    "\n",
    "print(f\"{len(topics)} topics were aggregated into {len(topic_cohorts)} cohorts\")"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Timer-Node Mapping"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "unknowns = {}\n",
    "\n",
    "print_node_timer = lambda node_path, period: print(f\"{node_path:<90s}: {1/(period*1e-9):8.2f}Hz\")\n",
    "\n",
    "for timer in timers.values():\n",
    "    timer_nodes = timer.nodes\n",
    "    if not timer_nodes:\n",
    "        if timer.period not in unknowns:\n",
    "            unknowns[timer.period] = 0\n",
    "        unknowns[timer.period] += 1\n",
    "\n",
    "    for node in timer_nodes: print_node_timer(node.path, timer.period)\n",
    "        \n",
    "for period, count in unknowns.items():\n",
    "    print_node_timer(f\"UNKNOWN (x{count})\", period)\n",
    "\n",
    "n_unknown = sum(unknowns.values())  # Values are counts per period\n",
    "print(f\"Found {len(timers) - n_unknown} timers with a recorded node, {n_unknown} without.\")"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Measure Frequency Deviations"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "# Get Publisher frequencies\n",
    "df_publications = handler.data.rcl_publish_instances\n",
    "pub_stats = {}\n",
    "unknown = 0\n",
    "for pi in publish_instances:\n",
    "    try:\n",
    "        pub = pi.publisher\n",
    "    except KeyError:\n",
    "        unknown += 1\n",
    "        continue\n",
    "    if pub.id not in pub_stats:\n",
    "        pub_stats[pub.id] = {'times': []}\n",
    "    pub_stats[pub.id]['times'].append(pi.timestamp*1e-9) # Nanoseconds to seconds float\n",
    "\n",
    "print(f\"{unknown} unknown publisher handles ({len(pub_stats)} known ones)\")"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Plot Frequency Deviations"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "scrolled": true
   },
   "outputs": [],
   "source": [
    "fig_dirname = \"fig_frequency\"\n",
    "os.makedirs(fig_dirname, exist_ok=True)\n",
    "for i, (k, v) in enumerate(sorted(pub_stats.items(), key=lambda kv: len(kv[1]['times']), reverse=True)):\n",
    "    pub_time_diff = np.diff(np.array(v['times']))\n",
    "    v['period'] = pub_time_diff.mean()\n",
    "    v['period_std'] = pub_time_diff.std()\n",
    "    v['frequency'] = 1 / v['period']\n",
    "    v['frequency_std'] = (1/pub_time_diff).std()\n",
    "\n",
    "    try:\n",
    "        publisher = publishers[k]\n",
    "        publisher_node = publisher.node\n",
    "        topic_name = publisher.topic_name\n",
    "        node_path = publisher_node.path\n",
    "    except Exception:\n",
    "        topic_name=\"UNKNOWN\"\n",
    "        node_path=\"UNKNOWN\"\n",
    "    \n",
    "    fig = plt.figure(figsize=(15,5))\n",
    "    ax = fig.add_subplot()\n",
    "    ax.hist(1/pub_time_diff)\n",
    "    ax.set_xlabel(\"Publication Frequency [Hz]\")\n",
    "    ax.set_ylabel(\"#Publications\")\n",
    "    ax.set_title(f\"{node_path} =({v['frequency']:.2f}Hz)=> {topic_name}\")\n",
    "    plt.savefig('/'.join((fig_dirname, f\"{i:06}{node_path}__{topic_name}\".replace('/','-'))))\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Data Flow Graph"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "scrolled": false
   },
   "outputs": [],
   "source": [
    "node_filters = [\"transform_listener_impl\", \"_monitor\"]\n",
    "topic_filters = [\"/rosout\", \"/parameter_events\", \"/diagnostics\"]\n",
    "\n",
    "from pyvis.network import Network\n",
    "net = Network(notebook=True, height='750px', width='100%', bgcolor='#ffffff', font_color='#000000')\n",
    "\n",
    "net.add_node(\"INPUT\", label=\"Input\", size=100, color=\"green\", physics=False, x=0, y=0)\n",
    "net.add_node(\"OUTPUT\", label=\"Output\", size=100, color=\"red\", physics=False, x=6000, y=0)\n",
    "\n",
    "\n",
    "for node in nodes.values():\n",
    "    if any(f in node.path for f in node_filters): \n",
    "        continue\n",
    "    net.add_node(node.id, label=node.name, title=node.path, size=20, color=\"#333\")\n",
    "\n",
    "for cohort_key, cohort_topics in topic_cohorts.items():\n",
    "    cohort_topic_names = [topic.name for topic in cohort_topics if not any(f in topic.name for f in topic_filters)]\n",
    "    if not cohort_topic_names: \n",
    "        continue\n",
    "    cohort_id=\"\\n\".join(cohort_topic_names)\n",
    "    cohort_weight=len(cohort_topic_names)\n",
    "    net.add_node(cohort_id, label=\" \", title=cohort_id, size=5, color=\"#333\")\n",
    "    \n",
    "    pubs = cohort_key[0]\n",
    "    subs = cohort_key[1]\n",
    "    n_pubs = len(pubs)\n",
    "    n_subs = len(subs)\n",
    "    \n",
    "    try:\n",
    "        if not n_pubs:\n",
    "            net.add_edge(\"INPUT\", cohort_id, arrows=\"to\", color=\"green\", weight=cohort_weight)\n",
    "        if not n_subs:\n",
    "            net.add_edge(cohort_id, \"OUTPUT\", arrows=\"to\", color=\"red\", weight=cohort_weight)\n",
    "\n",
    "        for pub in pubs:\n",
    "            net.add_edge(pub, cohort_id, arrows=\"to\", color=\"green\", weight=cohort_weight)\n",
    "        for sub in subs:\n",
    "            net.add_edge(cohort_id, sub, arrows=\"to\", color=\"red\", weight=cohort_weight)\n",
    "    except:\n",
    "        continue\n",
    "\n",
    "net.toggle_physics(True)\n",
    "net.show_buttons()\n",
    "net.show(\"graph.html\")"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Pub-Use Latencies\n",
    "Compute for each node and its data dependencies the list of pub-use delays (per-topic-per-node list of pub-use delays)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "def filter_none(ls):\n",
    "    return filter(lambda x: x is not None, ls)\n",
    "\n",
    "def safe_map(func, ls):\n",
    "    def safe_func(arg):\n",
    "        try:\n",
    "            return func(arg)\n",
    "        except:\n",
    "            return None\n",
    "    \n",
    "    return map(safe_func, ls)\n",
    "\n",
    "pub_use_delays = {node.id: {\n",
    "    'pubs': {}, \n",
    "    'invocations': {}, \n",
    "    'n_unknown_invocations': 0, \n",
    "    'n_pub_timestamps': 0\n",
    "    } for node in nodes.values()}\n",
    "\n",
    "for node in nodes.values():\n",
    "    node_pub_use_dict = pub_use_delays[node.id]\n",
    "    timestamp_min = np.inf; timestamp_max = 0\n",
    "\n",
    "    n_pub_timestamps = 0\n",
    "    for sub in node.subscriptions:\n",
    "        node_pub_use_dict['pubs'][sub.topic_name] = {}\n",
    "        for pub in sub.publishers:\n",
    "            pub_timestamps = [inst.timestamp for inst in pub.instances]\n",
    "\n",
    "            try:\n",
    "                pub_t_min = min(pub_timestamps); pub_t_max = max(pub_timestamps)\n",
    "            except ValueError:\n",
    "                pub_t_min = np.inf; pub_t_max = 0\n",
    "            \n",
    "            if pub_t_min < timestamp_min: timestamp_min = pub_t_min\n",
    "            if pub_t_max > timestamp_max: timestamp_max = pub_t_max\n",
    "\n",
    "            node_pub_use_dict['pubs'][sub.topic_name][pub.node.path] = pub_timestamps\n",
    "            node_pub_use_dict['n_pub_timestamps'] += len(pub_timestamps)\n",
    "\n",
    "    timer_cb_objs = list(filter_none(safe_map(lambda timer: timer.callback_object, node.timers)))\n",
    "    subsc_cb_objs = list(filter_none(safe_map(lambda subsc: subsc.subscription_object.callback_object, node.subscriptions)))\n",
    "\n",
    "    print(f\"{node.path:95s} has {len(timer_cb_objs):1d} timer callbacks, {len(subsc_cb_objs):2d} subscription callbacks, {len(node_pub_use_dict['pubs']):2d} subscribed topics.\")\n",
    "\n",
    "    node_invocations = node_pub_use_dict['invocations']\n",
    "\n",
    "    for cb_obj in timer_cb_objs + subsc_cb_objs:\n",
    "        cb_invocations = []\n",
    "        for inst in cb_obj.callback_instances:\n",
    "            cb_invocations.append((inst.timestamp, inst.duration))\n",
    "\n",
    "        node_invocations[cb_obj.id] = cb_invocations"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "from matplotlib import cm\n",
    "\n",
    "fig_dirname = \"fig_pub_use\"\n",
    "os.makedirs(fig_dirname, exist_ok=True)\n",
    "plt.close('all')\n",
    "\n",
    "node_filters=[]#\"transform_listener_impl\",]\n",
    "\n",
    "nodes_filtered = [node for node in nodes.values() if not any(f in node.path for f in node_filters)]\n",
    "print(f\"Ignoring {len(nodes.values()) - len(nodes_filtered)} nodes due to filters.\")\n",
    "\n",
    "common_offset = min(map(lambda cb_inst: cb_inst.timestamp.timestamp(), callback_instances))\n",
    "\n",
    "zero_color = cm.get_cmap('viridis')(0.0)\n",
    "\n",
    "for node_i, (node, node_path, node_pub_use_dict) in enumerate(map(lambda node: (node, node.path, pub_use_delays[node.id]), nodes_filtered)):\n",
    "\n",
    "    if not node_pub_use_dict['invocations']:\n",
    "        print(f\"{node_path:95s} has no invocations, skipping.\")\n",
    "        continue\n",
    "\n",
    "    if len(node_pub_use_dict['pubs']) == 0:\n",
    "        print(f\"Skipping {node_path}, no publications\")\n",
    "        continue\n",
    "\n",
    "    fig = plt.figure(figsize=(15,5))\n",
    "    ax: plt.Axes = fig.add_subplot()\n",
    "\n",
    "    max_pubs_per_topic = max(len(pubs) for pubs in node_pub_use_dict['pubs'].values())\n",
    "    topic_names, topic_pubs = (zip(*node_pub_use_dict['pubs'].items()))\n",
    "\n",
    "    vmin = 0; vmax = max_pubs_per_topic\n",
    "\n",
    "    y_labels = []\n",
    "    current_y = 0\n",
    "\n",
    "    for invoc_i, (cb_obj_id, cb_invocations) in enumerate(node_pub_use_dict['invocations'].items()):\n",
    "        try:\n",
    "            cb_obj = callback_objects[cb_obj_id]\n",
    "            sym = callback_symbols[cb_obj.callback_object].symbol\n",
    "            sym = Ros2DataModelUtil._prettify(None, sym)\n",
    "            sym = re.sub(r\"std::shared_ptr<(.*?)>\", r\"\\1*\", sym)\n",
    "\n",
    "            cb_owner = cb_obj.owner\n",
    "            if isinstance(cb_owner, Timer):\n",
    "                cb_type = \"T\"\n",
    "            elif isinstance(cb_owner, SubscriptionObject):\n",
    "                cb_type = \"S\"\n",
    "        except KeyError or AttributeError:\n",
    "            sym = \"UNKNOWN\"\n",
    "            cb_type = \"U\"\n",
    "        \n",
    "        y_labels.append(f\"{sym} {cb_type}\")\n",
    "        n_markers = len(cb_invocations)\n",
    "\n",
    "        points_x = []; points_y = []\n",
    "        for time, dur in cb_invocations:\n",
    "            time = time.timestamp() - common_offset; dur = dur.total_seconds()\n",
    "            points_x += [time, time+dur, None]\n",
    "            points_y += [current_y, current_y, 0.0]\n",
    "        \n",
    "        ax.plot(points_x,points_y, marker='.', c=zero_color)\n",
    "        current_y += 1\n",
    "\n",
    "    n_cbs = current_y\n",
    "\n",
    "    for topic_i, (topic_name, pubs) in enumerate(zip(topic_names, topic_pubs)):\n",
    "        for pub_i, (pub_name, timestamps) in enumerate(pubs.items()):\n",
    "            n_markers = len(timestamps)\n",
    "            ax.scatter(np.array(timestamps)*1e-9 - common_offset, (current_y,) * n_markers, marker='.', c=(pub_i,) * n_markers, vmin=vmin, vmax=vmax)\n",
    "        \n",
    "        y_labels.append(topic_name)\n",
    "        current_y += 1\n",
    "    \n",
    "    trigger_strs = []\n",
    "    t = node.timers\n",
    "    if t:\n",
    "        n_timers = len(t)\n",
    "        freqs = map(lambda timer: 1 / (timer.period*1e-9), t)\n",
    "        trigger_strs.append(f\"{n_timers} timer{'s' if n_timers != 1 else ''}, {'Hz, '.join((f'{freq:.0f}' for freq in freqs))}Hz\")\n",
    "    if node.subscriptions:\n",
    "        n_subs = len(node.subscriptions)\n",
    "        trigger_strs.append(f\"{n_subs} subscription{'s' if n_subs != 1 else ''}\")\n",
    "\n",
    "    ax.set_xlabel(\"Publication / Invocation Timestamp [s]\")\n",
    "    ax.set_ylabel(\"Topic\")\n",
    "    ax.set_yticks(range(current_y))\n",
    "    ax.set_yticklabels(y_labels)\n",
    "    ax.set_ylim(0 - .1, current_y - 1 + .1)\n",
    "    ax.set_title(f\"{node_path} ({'; '.join(trigger_strs)})\")\n",
    "    ax.set_xlim(50, 50.25)\n",
    "\n",
    "    ax.hlines(n_cbs - 0.5, *ax.get_xlim(), linestyles='dashed')\n",
    "    plt.savefig(os.path.join(fig_dirname, f\"{node_i:06}{node_path}\".replace('/','-')))"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# E2E Latency Calculation"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "(483/483) Processing done.                                                                                                                   \n"
     ]
    }
   ],
   "source": [
    "#################################################\n",
    "# Data structures & helpers\n",
    "#################################################\n",
    "\n",
    "LatencyStats = pd.Series\n",
    "\n",
    "@dataclass\n",
    "class LatencyGraph:\n",
    "    verts: Set[CallbackObject]\n",
    "    edges: Dict[Tuple[CallbackObject, CallbackObject], Tuple[Topic, LatencyStats]]\n",
    "    starts: Dict[CallbackObject, Topic]\n",
    "    ends: Dict[CallbackObject, Topic]\n",
    "\n",
    "def pub_use_latencies(cb_instances: List[CallbackInstance], pub_instances: List[PublishInstance]):\n",
    "    cb_times = sorted([inst.timestamp.timestamp() for inst in cb_instances])\n",
    "\n",
    "    if not pub_instances:\n",
    "        return pd.Series(np.full(len(cb_instances), np.nan), index=cb_times)\n",
    "\n",
    "    pub_times = np.array(sorted([pub.timestamp * 1e-9 for pub in pub_instances]))\n",
    "\n",
    "    pub_use_lats = np.array([cb_time - np.max(pub_times[pub_times < cb_time], initial=-np.inf) for cb_time in cb_times])\n",
    "    pub_use_lats[np.isposinf(pub_use_lats)] = np.nan\n",
    "    ret_series = pd.Series(pub_use_lats, index=cb_times)\n",
    "    return ret_series\n",
    "\n",
    "def inst_runtime_interval(cb_inst):\n",
    "    inst_t_min = cb_inst.timestamp.timestamp()\n",
    "    inst_t_max = inst_t_min + cb_inst.duration.total_seconds()\n",
    "    return (inst_t_min, inst_t_max)\n",
    "\n",
    "def count_pub_insts_in_intervals(cb_intervals: List[Tuple[float, float]], pub_insts: List[PublishInstance]):\n",
    "    \"\"\"\n",
    "    Counts number of publication instancess that lie within one of the cb_intervals.\n",
    "    \"\"\"\n",
    "    pub_timestamps = [inst.timestamp * 1e-9 for inst in pub_insts]\n",
    "    \n",
    "    # Algorithm: Two-pointer method\n",
    "    # With both the pub_timestamps and cb_intervals sorted ascending,\n",
    "    # we can cut down the O(m*n) comparisons to O(m+n).\n",
    "    pub_timestamps.sort()\n",
    "    cb_intervals.sort(key=lambda tup: tup[0])\n",
    "\n",
    "    n_overlaps = 0\n",
    "    cb_iter = iter(cb_intervals)\n",
    "    pub_iter = iter(pub_timestamps)\n",
    "    (t_min, t_max) = next(cb_iter, (None, None))\n",
    "    t_pub = next(pub_iter, None)\n",
    "\n",
    "    while t_pub is not None and t_min is not None:\n",
    "        if t_min <= t_pub <= t_max:  # If publication in interval, increase counter, go to next pub (multiple pubs can be within one interval)\n",
    "            n_overlaps += 1\n",
    "            t_pub = next(pub_iter, None)\n",
    "        elif t_pub < t_min:  # If publication before interval, increase pub\n",
    "            t_pub = next(pub_iter, None)\n",
    "        else:  # If interval before publication, increase interval\n",
    "            (t_min, t_max) = next(cb_iter, (None, None))\n",
    "\n",
    "    return n_overlaps\n",
    "\n",
    "#################################################\n",
    "# Identify input and output topics\n",
    "#################################################\n",
    "\n",
    "in_topics = [t for t in topics.values() if not t.publishers]\n",
    "out_topics = [t for t in topics.values() if not t.subscriptions]\n",
    "\n",
    "#################################################\n",
    "# For each node, work out dependencies and\n",
    "# publications of each callback\n",
    "#################################################\n",
    "\n",
    "cb_to_scored_pub: Dict[CallbackObject, Set[Tuple[Publisher, float]]] = {}\n",
    "topic_to_dep_cb: Dict[Topic, Set[CallbackObject]] = {}\n",
    "pub_cb_to_lat_stats: Dict[Tuple[Publisher, CallbackObject], LatencyStats] = {}\n",
    "\n",
    "with ProgressPrinter(\"Processing\", len(callback_objects)) as p:\n",
    "    for cb in callback_objects.values():\n",
    "        p.step(Ros2DataModelUtil._prettify(None, callback_symbols[cb.callback_object].symbol) if cb.callback_object in callback_symbols else str(cb.id))\n",
    "        # Find topics the callback EXPLICITLY depends on\n",
    "        # - Timer callbacks: no EXPLICIT dependencies\n",
    "        # - Subscription callbacks: callback depends on the subscribed topic. Possibly also has other IMPLICIT dependencies\n",
    "\n",
    "        if type(cb.owner).__name__ == SubscriptionObject.__name__:\n",
    "            owner_node = cb.owner.subscription.node\n",
    "            dep_topics = [cb.owner.subscription.topic,]\n",
    "        elif type(cb.owner).__name__ == Timer.__name__:\n",
    "            owner_nodes = cb.owner.nodes\n",
    "            if len(owner_nodes) != 1:\n",
    "                raise(ValueError(\"Timer has more than one owner!\"))\n",
    "            dep_topics = []\n",
    "        elif cb.owner is None:\n",
    "            dep_topics = []\n",
    "            continue\n",
    "        else:\n",
    "            raise RuntimeError(f\"Callback owners other than timers/subscriptions cannot be handled: {cb.owner} {cb.owner_info}\")\n",
    "\n",
    "        for topic in dep_topics: \n",
    "            if topic not in topic_to_dep_cb:\n",
    "                topic_to_dep_cb[topic] = set()\n",
    "            topic_to_dep_cb[topic].add(cb)\n",
    "\n",
    "            for pub in topic.publishers:\n",
    "                pub_cb_to_lat_stats[(pub, cb)] = pub_use_latencies(cb.callback_instances, pub.instances)\n",
    "\n",
    "        # Find topics the callback publishes to (HEURISTICALLY!)\n",
    "        # For topics published to during the runtime of the callback's instances, \n",
    "        # assume that they are published by the callback\n",
    "\n",
    "        cb_runtime_intervals = [inst_runtime_interval(inst) for inst in cb.callback_instances]\n",
    "        cb_pub_overlap_counts = [count_pub_insts_in_intervals(cb_runtime_intervals, pub.instances) for pub in owner_node.publishers]\n",
    "\n",
    "        for pub, olap_count in zip(owner_node.publishers, cb_pub_overlap_counts):\n",
    "            if olap_count == 0 or not pub.instances:\n",
    "                continue\n",
    "            score = olap_count / len(pub.instances)\n",
    "\n",
    "            if cb not in cb_to_scored_pub: \n",
    "                cb_to_scored_pub[cb] = set()\n",
    "            cb_to_scored_pub[cb].add((pub, score))\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "/diagnostics:\n",
      "    0.069979% void (AutowareStateMonitorNode::?)(autoware_auto_vehicle_msgs::msg::ControlModeReport*),\n",
      "    0.069979% void (AutowareStateMonitorNode::?)(nav_msgs::msg::Odometry*)\n",
      "/planning/scenario_planning/scenario_selector/trajectory:\n",
      "   97.216700% void (ScenarioSelectorNode::?)(autoware_auto_planning_msgs::msg::Trajectory*),\n",
      "    2.783300% void (ScenarioSelectorNode::?)(autoware_auto_planning_msgs::msg::Trajectory*)\n",
      "/diagnostics:\n",
      "    9.008380% void (diagnostic_updater::Updater::?)(),\n",
      "   90.712291% void (planning_diagnostics::PlanningErrorMonitorNode::?)()\n",
      "/control/trajectory_follower/control_cmd:\n",
      "   50.000000% void (autoware::motion::control::trajectory_follower_nodes::LatLonMuxer::?)(autoware_auto_control_msgs::msg::AckermannLateralCommand*),\n",
      "   50.000000% void (autoware::motion::control::trajectory_follower_nodes::LatLonMuxer::?)(autoware_auto_control_msgs::msg::LongitudinalCommand*)\n",
      "/planning/scenario_planning/status/stop_reason:\n",
      "    0.306748% void (motion_planning::ObstacleStopPlannerNode::?)(sensor_msgs::msg::PointCloud2*),\n",
      "  100.000000% void (motion_planning::ObstacleStopPlannerNode::?)(autoware_auto_planning_msgs::msg::Trajectory*)\n",
      "/planning/scenario_planning/lane_driving/trajectory:\n",
      "    0.306748% void (motion_planning::ObstacleStopPlannerNode::?)(sensor_msgs::msg::PointCloud2*),\n",
      "  100.000000% void (motion_planning::ObstacleStopPlannerNode::?)(autoware_auto_planning_msgs::msg::Trajectory*)\n",
      "/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/debug/marker:\n",
      "    0.204499% void (motion_planning::ObstacleStopPlannerNode::?)(sensor_msgs::msg::PointCloud2*),\n",
      "  100.000000% void (motion_planning::ObstacleStopPlannerNode::?)(autoware_auto_planning_msgs::msg::Trajectory*)\n",
      "/diagnostics:\n",
      "    9.047619% void (diagnostic_updater::Updater::?)(),\n",
      "   90.793651% void (VehicleCmdGate::?)()\n",
      "/control/command/emergency_cmd:\n",
      "  100.000000% void (VehicleCmdGate::?)(autoware_auto_control_msgs::msg::AckermannControlCommand*),\n",
      "    7.980703% void (behavior_path_planner::BehaviorPathPlannerNode::?)()\n",
      "/control/command/control_cmd:\n",
      "  100.000000% void (VehicleCmdGate::?)(autoware_auto_control_msgs::msg::AckermannControlCommand*),\n",
      "    7.953136% void (behavior_path_planner::BehaviorPathPlannerNode::?)()\n",
      "/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection:\n",
      "  100.000000% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_planning_msgs::msg::PathWithLaneId*),\n",
      "    0.204082% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(nav_msgs::msg::Odometry*)\n",
      "/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/stop_line:\n",
      "  100.000000% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_planning_msgs::msg::PathWithLaneId*),\n",
      "    0.102041% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(nav_msgs::msg::Odometry*)\n",
      "/planning/scenario_planning/status/infrastructure_commands:\n",
      "  100.000000% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_planning_msgs::msg::PathWithLaneId*),\n",
      "    0.204082% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(nav_msgs::msg::Odometry*)\n",
      "/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/virtual_traffic_light:\n",
      "  100.000000% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_planning_msgs::msg::PathWithLaneId*),\n",
      "    0.102041% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(nav_msgs::msg::OccupancyGrid*)\n",
      "/planning/scenario_planning/status/infrastructure_commands:\n",
      "  100.000000% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_planning_msgs::msg::PathWithLaneId*),\n",
      "    0.204082% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(sensor_msgs::msg::PointCloud2*),\n",
      "    0.102041% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(nav_msgs::msg::Odometry*)\n",
      "/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/merge_from_private:\n",
      "  100.000000% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_planning_msgs::msg::PathWithLaneId*),\n",
      "    0.102041% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(nav_msgs::msg::Odometry*)\n",
      "/planning/scenario_planning/status/stop_reasons:\n",
      "  100.000000% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_planning_msgs::msg::PathWithLaneId*),\n",
      "    0.306122% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(sensor_msgs::msg::PointCloud2*)\n",
      "/planning/scenario_planning/status/infrastructure_commands:\n",
      "  100.000000% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_planning_msgs::msg::PathWithLaneId*),\n",
      "    0.204082% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(nav_msgs::msg::Odometry*)\n",
      "/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/occlusion_spot:\n",
      "  100.000000% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_planning_msgs::msg::PathWithLaneId*),\n",
      "    0.102041% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(sensor_msgs::msg::PointCloud2*),\n",
      "    0.102041% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(nav_msgs::msg::Odometry*)\n",
      "/planning/scenario_planning/lane_driving/behavior_planning/path:\n",
      "  100.000000% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_planning_msgs::msg::PathWithLaneId*),\n",
      "    0.408163% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(sensor_msgs::msg::PointCloud2*)\n"
     ]
    }
   ],
   "source": [
    "pub_to_scored_cb = {}\n",
    "\n",
    "verts = set(callback_objects.values())\n",
    "edges = {}\n",
    "for send_cb, scored_pubs in cb_to_scored_pub.items():\n",
    "    for pub, score in scored_pubs:\n",
    "        if score == 0.0:\n",
    "            continue\n",
    "        if pub not in pub_to_scored_cb:\n",
    "            pub_to_scored_cb[pub] = []\n",
    "        pub_to_scored_cb[pub].append((send_cb, score))\n",
    "        receiver_cbs = [sub.subscription_object.callback_object for sub in pub.subscriptions if sub.subscription_object is not None]\n",
    "        for recv_cb in receiver_cbs:\n",
    "            edges[(send_cb, recv_cb)] = (pub.topic, pub_cb_to_lat_stats[(pub, recv_cb)])\n",
    "\n",
    "for pub, scored_cbs in pub_to_scored_cb.items():\n",
    "    if len(scored_cbs) > 1:\n",
    "        def _mapfun(tup):\n",
    "            cb, score = tup\n",
    "            pretty_sym = Ros2DataModelUtil._prettify(None, callback_symbols[cb.callback_object].symbol)\n",
    "            pretty_sym = re.sub(r\"std::shared_ptr<(.*?) *(const)?>\", r\"\\1*\", pretty_sym)\n",
    "            return f'{score*100:>10.6f}% {pretty_sym}'\n",
    "        cbstr = ',\\n  '.join(map(_mapfun, scored_cbs))\n",
    "        print(f\"{pub.topic_name}:\\n  {cbstr}\")\n",
    "\n",
    "inputs = {}\n",
    "outputs = {}\n",
    "for topic in out_topics:\n",
    "    outputs.update({cb: topic for pub in topic.publishers if pub in pub_to_scored_cb for cb, score in pub_to_scored_cb[pub]})\n",
    "for topic in in_topics:\n",
    "    inputs.update({sub.subscription_object.callback_object: topic for sub in topic.subscriptions if sub.subscription_object is not None})\n",
    "\n",
    "\n",
    "#################################################\n",
    "# Filter callback objects and topics\n",
    "#################################################\n",
    "\n",
    "callback_symbol_filters = [\n",
    "    \"rcl_interfaces::msg::ParameterEvent\", \"diagnostic_updater::Updater\", \n",
    "    \"rclcpp::ParameterService::ParameterService\", \"tf2_ros::TransformListener\",\n",
    "    \"rclcpp_components::ComponentManager\", \"diagnostic_aggregator::Aggregator\"\n",
    "    ]\n",
    "\n",
    "verts = set(filter(lambda vert: not any(f in callback_symbols[vert.callback_object].symbol for f in callback_symbol_filters), verts))\n",
    "edges = {(cb1, cb2): val for (cb1, cb2), val in edges.items() if cb1 in verts and cb2 in verts}\n",
    "outputs = {cb: topic for cb, topic in outputs.items() if cb in verts}\n",
    "inputs = {cb: topic for cb, topic in inputs.items() if cb in verts}\n",
    "\n",
    "latency_graph = LatencyGraph(verts, edges, inputs, outputs)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Node(id=281471218807408, timestamp=1652795532762216423, tid=10104, rmw_handle=281471218875664, name='behavior_path_planner', namespace='/planning/scenario_planning/lane_driving/behavior_planning')\n",
      "   CallbackObject -> CallbackObject CallbackObject CallbackObject CallbackObject CallbackObject CallbackObject\n",
      "   CallbackObject -> CallbackObject CallbackObject CallbackObject\n"
     ]
    }
   ],
   "source": [
    "#################################################\n",
    "# Get intra-node dependencies from settings\n",
    "#################################################\n",
    "\n",
    "def _find_node(path):\n",
    "    return next(filter(lambda n: n.path == path, nodes.values()))\n",
    "\n",
    "from ruamel.yaml import YAML\n",
    "\n",
    "yaml = YAML()\n",
    "with open(\"settings/intra-node-data-deps.yaml\", \"r\") as f:\n",
    "    node_internal_deps = yaml.load(f)\n",
    "    # Convert node path to node instance\n",
    "    node_internal_deps = {_find_node(path): {\n",
    "            callback_objects[cb_id]: [callback_objects[dep_id] for dep_id in dep_ids]\n",
    "            for cb_id, dep_ids \n",
    "            in deps.items()\n",
    "        } for path, deps in node_internal_deps.items()}\n",
    "\n",
    "for node, cb_mappings in node_internal_deps.items():\n",
    "    print(node)\n",
    "    for cb, deps in cb_mappings.items():\n",
    "        print(\"  \", type(cb).__name__, \"->\", ' '.join(map(lambda x: type(x).__name__, deps)))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 14,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[WARN] CB has no owners\n",
      "[WARN] CB has no owners\n",
      "[WARN] CB has no owners\n",
      "[WARN] CB has no owners\n",
      "[WARN] CB has no owners\n",
      "[WARN] CB has no owners\n",
      "[WARN] CB has no owners\n",
      "[WARN] CB has no owners\n"
     ]
    },
    {
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fill=\"lightgray\" stroke=\"black\" points=\"2367,-3060.48 2367,-3099.48 2652,-3099.48 2652,-3060.48 2367,-3060.48\"/>\n<text text-anchor=\"middle\" x=\"2509.5\" y=\"-3084.28\" font-family=\"Times,serif\" font-size=\"14.00\">/system/system_monitor/hdd_monitor</text>\n</g>\n<!-- INPUT -->\n<g id=\"node1\" class=\"node\">\n<title>INPUT</title>\n<polygon fill=\"none\" stroke=\"black\" points=\"0,-1563.98 0,-1578.98 53,-1578.98 53,-1563.98 0,-1563.98\"/>\n<text text-anchor=\"middle\" x=\"24\" y=\"-1567.78\" font-family=\"Times,serif\" font-size=\"14.00\">INPUT</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"48,-1563.98 48,-1578.98 \"/>\n<text text-anchor=\"middle\" x=\"50.5\" y=\"-1567.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n</g>\n<!-- 281471292354688 -->\n<g id=\"node3\" class=\"node\">\n<title>281471292354688</title>\n<g id=\"a_node3\"><a xlink:title=\"0µs, 0µs, 0µs\">\n<polygon fill=\"none\" stroke=\"black\" points=\"211,-1956.98 211,-1971.98 1120,-1971.98 1120,-1956.98 211,-1956.98\"/>\n<text text-anchor=\"middle\" x=\"213.5\" y=\"-1960.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n<polyline fill=\"none\" stroke=\"black\" points=\"216,-1956.98 216,-1971.98 \"/>\n<text text-anchor=\"middle\" x=\"665.5\" y=\"-1960.78\" font-family=\"Times,serif\" font-size=\"14.00\">void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_perception_msgs::msg::TrafficSignalArray*)</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"1115,-1956.98 1115,-1971.98 \"/>\n<text text-anchor=\"middle\" x=\"1117.5\" y=\"-1960.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n</a>\n</g>\n</g>\n<!-- INPUT&#45;&gt;281471292354688 -->\n<g id=\"edge78\" class=\"edge\">\n<title>INPUT:out&#45;&gt;281471292354688:in</title>\n<g id=\"a_edge78\"><a xlink:title=\"/perception/traffic_light_recognition/traffic_signals\">\n<path fill=\"none\" stroke=\"black\" d=\"M50.5,-1580.48C50.5,-1621.48 59.43,-1919.08 89,-1947.48 97.28,-1955.44 177.23,-1946.2 204.46,-1950.66\"/>\n<polygon fill=\"black\" stroke=\"black\" points=\"203.03,-1953.86 213.5,-1955.48 206.33,-1947.69 203.03,-1953.86\"/>\n</a>\n</g>\n</g>\n<!-- 281471292723984 -->\n<g id=\"node5\" class=\"node\">\n<title>281471292723984</title>\n<g id=\"a_node5\"><a xlink:title=\"0µs, 0µs, 0µs\">\n<polygon fill=\"none\" stroke=\"black\" points=\"211,-1922.98 211,-1937.98 1120,-1937.98 1120,-1922.98 211,-1922.98\"/>\n<text text-anchor=\"middle\" x=\"213.5\" y=\"-1926.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n<polyline fill=\"none\" stroke=\"black\" points=\"216,-1922.98 216,-1937.98 \"/>\n<text text-anchor=\"middle\" x=\"665.5\" y=\"-1926.78\" font-family=\"Times,serif\" font-size=\"14.00\">void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_perception_msgs::msg::TrafficSignalArray*)</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"1115,-1922.98 1115,-1937.98 \"/>\n<text text-anchor=\"middle\" x=\"1117.5\" y=\"-1926.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n</a>\n</g>\n</g>\n<!-- INPUT&#45;&gt;281471292723984 -->\n<g id=\"edge42\" class=\"edge\">\n<title>INPUT:out&#45;&gt;281471292723984:in</title>\n<g id=\"a_edge42\"><a xlink:title=\"/external/traffic_light_recognition/traffic_signals\">\n<path fill=\"none\" stroke=\"black\" d=\"M50.5,-1580.48C50.5,-1617.73 62,-1887.83 89,-1913.48 97.32,-1921.39 177.24,-1912.18 204.47,-1916.65\"/>\n<polygon fill=\"black\" stroke=\"black\" points=\"203.03,-1919.86 213.5,-1921.48 206.33,-1913.68 203.03,-1919.86\"/>\n</a>\n</g>\n</g>\n<!-- 281471292197968 -->\n<g id=\"node6\" class=\"node\">\n<title>281471292197968</title>\n<g id=\"a_node6\"><a xlink:title=\"4µs, 23µs, 44159µs\">\n<polygon fill=\"none\" stroke=\"black\" points=\"322.5,-2024.98 322.5,-2039.98 1008.5,-2039.98 1008.5,-2024.98 322.5,-2024.98\"/>\n<text text-anchor=\"middle\" x=\"325\" y=\"-2028.78\" font-family=\"Times,serif\" 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313.91,-2023.1\"/>\n</a>\n</g>\n</g>\n<!-- 281471292814832 -->\n<g id=\"node7\" class=\"node\">\n<title>281471292814832</title>\n<g id=\"a_node7\"><a xlink:title=\"2µs, 5µs, 44µs\">\n<polygon fill=\"none\" stroke=\"black\" points=\"303.5,-1888.98 303.5,-1903.98 1027.5,-1903.98 1027.5,-1888.98 303.5,-1888.98\"/>\n<text text-anchor=\"middle\" x=\"306\" y=\"-1892.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n<polyline fill=\"none\" stroke=\"black\" points=\"308.5,-1888.98 308.5,-1903.98 \"/>\n<text text-anchor=\"middle\" x=\"665.5\" y=\"-1892.78\" font-family=\"Times,serif\" font-size=\"14.00\">void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(nav_msgs::msg::OccupancyGrid*)</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"1022.5,-1888.98 1022.5,-1903.98 \"/>\n<text text-anchor=\"middle\" x=\"1025\" y=\"-1892.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n</a>\n</g>\n</g>\n<!-- INPUT&#45;&gt;281471292814832 -->\n<g id=\"edge90\" 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(behavior_path_planner::BehaviorPathPlannerNode::?)(tier4_planning_msgs::msg::PathChangeModule*)</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"1053,-2241.98 1053,-2256.98 \"/>\n<text text-anchor=\"middle\" x=\"1055.5\" y=\"-2245.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n</a>\n</g>\n</g>\n<!-- INPUT&#45;&gt;281471220381760 -->\n<g id=\"edge77\" class=\"edge\">\n<title>INPUT:out&#45;&gt;281471220381760:in</title>\n<g id=\"a_edge77\"><a xlink:title=\"/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/path_change_force\">\n<path fill=\"none\" stroke=\"black\" d=\"M50.5,-1580.48C50.5,-1616.77 63.14,-2207.03 89,-2232.48 95.35,-2238.73 228.52,-2232.49 265.85,-2237.19\"/>\n<polygon fill=\"black\" stroke=\"black\" points=\"264.91,-2240.57 275.5,-2240.48 267.16,-2233.94 264.91,-2240.57\"/>\n</a>\n</g>\n</g>\n<!-- 281471220598896 -->\n<g id=\"node16\" class=\"node\">\n<title>281471220598896</title>\n<g id=\"a_node16\"><a xlink:title=\"0µs, 0µs, 0µs\">\n<polygon fill=\"none\" stroke=\"black\" points=\"330,-2275.98 330,-2290.98 1001,-2290.98 1001,-2275.98 330,-2275.98\"/>\n<text text-anchor=\"middle\" x=\"332.5\" y=\"-2279.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n<polyline fill=\"none\" stroke=\"black\" points=\"335,-2275.98 335,-2290.98 \"/>\n<text text-anchor=\"middle\" x=\"665.5\" y=\"-2279.78\" font-family=\"Times,serif\" font-size=\"14.00\">void (behavior_path_planner::SideShiftModule::?)(tier4_planning_msgs::msg::LateralOffset*)</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"996,-2275.98 996,-2290.98 \"/>\n<text text-anchor=\"middle\" x=\"998.5\" y=\"-2279.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n</a>\n</g>\n</g>\n<!-- INPUT&#45;&gt;281471220598896 -->\n<g id=\"edge87\" class=\"edge\">\n<title>INPUT:out&#45;&gt;281471220598896:in</title>\n<g id=\"a_edge87\"><a 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(behavior_path_planner::BehaviorPathPlannerNode::?)(nav_msgs::msg::Odometry*)</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"980,-2377.98 980,-2392.98 \"/>\n<text text-anchor=\"middle\" x=\"982.5\" y=\"-2381.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n</a>\n</g>\n</g>\n<!-- INPUT&#45;&gt;281471220195376 -->\n<g id=\"edge50\" class=\"edge\">\n<title>INPUT:out&#45;&gt;281471220195376:in</title>\n<g id=\"a_edge50\"><a xlink:title=\"/localization/kinematic_state\">\n<path fill=\"none\" stroke=\"black\" d=\"M50.5,-1580.48C50.5,-1624.31 57.73,-2337.77 89,-2368.48 98.08,-2377.41 293.37,-2365.57 339.02,-2372.6\"/>\n<polygon fill=\"black\" stroke=\"black\" points=\"337.92,-2375.93 348.5,-2376.48 340.58,-2369.45 337.92,-2375.93\"/>\n</a>\n</g>\n</g>\n<!-- 281471220214336 -->\n<g id=\"node19\" class=\"node\">\n<title>281471220214336</title>\n<g id=\"a_node19\"><a xlink:title=\"2µs, 6µs, 36µs\">\n<polygon fill=\"none\" stroke=\"black\" points=\"238.5,-2343.98 238.5,-2358.98 1092.5,-2358.98 1092.5,-2343.98 238.5,-2343.98\"/>\n<text text-anchor=\"middle\" x=\"241\" y=\"-2347.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n<polyline fill=\"none\" stroke=\"black\" points=\"243.5,-2343.98 243.5,-2358.98 \"/>\n<text text-anchor=\"middle\" x=\"665.5\" y=\"-2347.78\" font-family=\"Times,serif\" font-size=\"14.00\">void (behavior_path_planner::BehaviorPathPlannerNode::?)(autoware_auto_perception_msgs::msg::PredictedObjects*)</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"1087.5,-2343.98 1087.5,-2358.98 \"/>\n<text text-anchor=\"middle\" x=\"1090\" y=\"-2347.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n</a>\n</g>\n</g>\n<!-- INPUT&#45;&gt;281471220214336 -->\n<g id=\"edge72\" class=\"edge\">\n<title>INPUT:out&#45;&gt;281471220214336:in</title>\n<g id=\"a_edge72\"><a xlink:title=\"/perception/object_recognition/objects\">\n<path fill=\"none\" stroke=\"black\" d=\"M50.5,-1580.48C50.5,-1622.43 59.37,-2304.8 89,-2334.48 99.09,-2344.6 200.93,-2331.2 231.73,-2337.15\"/>\n<polygon fill=\"black\" stroke=\"black\" points=\"230.14,-2340.28 240.5,-2342.48 233.77,-2334.3 230.14,-2340.28\"/>\n</a>\n</g>\n</g>\n<!-- 187651236011408 -->\n<g id=\"node24\" class=\"node\">\n<title>187651236011408</title>\n<g id=\"a_node24\"><a xlink:title=\"0µs, 0µs, 0µs\">\n<polygon fill=\"none\" stroke=\"black\" points=\"362,-2594.98 362,-2609.98 969,-2609.98 969,-2594.98 362,-2594.98\"/>\n<text text-anchor=\"middle\" x=\"364.5\" y=\"-2598.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n<polyline fill=\"none\" stroke=\"black\" points=\"367,-2594.98 367,-2609.98 \"/>\n<text text-anchor=\"middle\" x=\"665.5\" y=\"-2598.78\" font-family=\"Times,serif\" font-size=\"14.00\">void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::TurnSignalStamped*)</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"964,-2594.98 964,-2609.98 \"/>\n<text text-anchor=\"middle\" x=\"966.5\" y=\"-2598.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n</a>\n</g>\n</g>\n<!-- INPUT&#45;&gt;187651236011408 -->\n<g id=\"edge63\" class=\"edge\">\n<title>INPUT:out&#45;&gt;187651236011408:in</title>\n<g id=\"a_edge63\"><a xlink:title=\"/api/external/set/command/local/turn_signal\">\n<path fill=\"none\" stroke=\"black\" d=\"M50.5,-1580.48C50.5,-1608.42 69.15,-2565.82 89,-2585.48 98.65,-2595.04 307.8,-2581.9 355.07,-2589.48\"/>\n<polygon fill=\"black\" stroke=\"black\" points=\"353.93,-2592.79 364.5,-2593.48 356.67,-2586.35 353.93,-2592.79\"/>\n</a>\n</g>\n</g>\n<!-- 187651236017424 -->\n<g id=\"node25\" class=\"node\">\n<title>187651236017424</title>\n<g id=\"a_node25\"><a xlink:title=\"0µs, 0µs, 0µs\">\n<polygon fill=\"none\" stroke=\"black\" points=\"397,-2560.98 397,-2575.98 934,-2575.98 934,-2560.98 397,-2560.98\"/>\n<text text-anchor=\"middle\" x=\"399.5\" y=\"-2564.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n<polyline fill=\"none\" stroke=\"black\" points=\"402,-2560.98 402,-2575.98 \"/>\n<text text-anchor=\"middle\" x=\"665.5\" y=\"-2564.78\" font-family=\"Times,serif\" font-size=\"14.00\">void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::Heartbeat*)</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"929,-2560.98 929,-2575.98 \"/>\n<text text-anchor=\"middle\" x=\"931.5\" y=\"-2564.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n</a>\n</g>\n</g>\n<!-- INPUT&#45;&gt;187651236017424 -->\n<g id=\"edge58\" class=\"edge\">\n<title>INPUT:out&#45;&gt;187651236017424:in</title>\n<g id=\"a_edge58\"><a xlink:title=\"/api/external/set/command/local/heartbeat\">\n<path fill=\"none\" stroke=\"black\" d=\"M50.5,-1580.48C50.5,-1634.47 50.56,-2513.57 89,-2551.48 99.99,-2562.32 339.78,-2546.36 390.23,-2555.23\"/>\n<polygon fill=\"black\" stroke=\"black\" points=\"388.95,-2558.49 399.5,-2559.48 391.87,-2552.13 388.95,-2558.49\"/>\n</a>\n</g>\n</g>\n<!-- 187651235894224 -->\n<g id=\"node27\" 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339,-2473.98 992,-2473.98 992,-2458.98 339,-2458.98\"/>\n<text text-anchor=\"middle\" x=\"341.5\" y=\"-2462.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n<polyline fill=\"none\" stroke=\"black\" points=\"344,-2458.98 344,-2473.98 \"/>\n<text text-anchor=\"middle\" x=\"665.5\" y=\"-2462.78\" font-family=\"Times,serif\" font-size=\"14.00\">void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::ControlCommandStamped*)</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"987,-2458.98 987,-2473.98 \"/>\n<text text-anchor=\"middle\" x=\"989.5\" y=\"-2462.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n</a>\n</g>\n</g>\n<!-- INPUT&#45;&gt;187651236049552 -->\n<g id=\"edge79\" class=\"edge\">\n<title>INPUT:out&#45;&gt;187651236049552:in</title>\n<g id=\"a_edge79\"><a xlink:title=\"/api/external/set/command/remote/control\">\n<path fill=\"none\" stroke=\"black\" d=\"M50.5,-1580.48C50.5,-1628.81 54.61,-2415.53 89,-2449.48 97.8,-2458.17 287.01,-2446.87 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text-anchor=\"middle\" x=\"665.5\" y=\"-2700.78\" font-family=\"Times,serif\" font-size=\"14.00\">void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::GearShiftStamped*)</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"959,-2696.98 959,-2711.98 \"/>\n<text text-anchor=\"middle\" x=\"961.5\" y=\"-2700.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n</a>\n</g>\n</g>\n<!-- INPUT&#45;&gt;187651236009840 -->\n<g id=\"edge61\" class=\"edge\">\n<title>INPUT:out&#45;&gt;187651236009840:in</title>\n<g id=\"a_edge61\"><a xlink:title=\"/api/external/set/command/local/shift\">\n<path fill=\"none\" stroke=\"black\" d=\"M50.5,-1580.48C50.5,-1611.25 67.18,-2665.79 89,-2687.48 98.83,-2697.25 312.71,-2683.66 360.21,-2691.46\"/>\n<polygon fill=\"black\" stroke=\"black\" points=\"358.93,-2694.72 369.5,-2695.48 361.72,-2688.3 358.93,-2694.72\"/>\n</a>\n</g>\n</g>\n<!-- 187651236084304 -->\n<g id=\"node32\" class=\"node\">\n<title>187651236084304</title>\n<g id=\"a_node32\"><a xlink:title=\"0µs, 0µs, 0µs\">\n<polygon fill=\"none\" stroke=\"black\" points=\"397,-2662.98 397,-2677.98 934,-2677.98 934,-2662.98 397,-2662.98\"/>\n<text text-anchor=\"middle\" x=\"399.5\" y=\"-2666.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n<polyline fill=\"none\" stroke=\"black\" points=\"402,-2662.98 402,-2677.98 \"/>\n<text text-anchor=\"middle\" x=\"665.5\" y=\"-2666.78\" font-family=\"Times,serif\" font-size=\"14.00\">void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::Heartbeat*)</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"929,-2662.98 929,-2677.98 \"/>\n<text text-anchor=\"middle\" x=\"931.5\" y=\"-2666.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n</a>\n</g>\n</g>\n<!-- INPUT&#45;&gt;187651236084304 -->\n<g id=\"edge86\" class=\"edge\">\n<title>INPUT:out&#45;&gt;187651236084304:in</title>\n<g id=\"a_edge86\"><a xlink:title=\"/api/external/set/command/remote/heartbeat\">\n<path fill=\"none\" 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341.93,-1703.8\"/>\n</a>\n</g>\n</g>\n<!-- 187651235284384 -->\n<g id=\"node43\" class=\"node\">\n<title>187651235284384</title>\n<g id=\"a_node43\"><a xlink:title=\"1µs, 8µs, 499µs\">\n<polygon fill=\"none\" stroke=\"black\" points=\"3095,-1601.98 3095,-1616.98 3679,-1616.98 3679,-1601.98 3095,-1601.98\"/>\n<text text-anchor=\"middle\" x=\"3097.5\" y=\"-1605.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n<polyline fill=\"none\" stroke=\"black\" points=\"3100,-1601.98 3100,-1616.98 \"/>\n<text text-anchor=\"middle\" x=\"3387\" y=\"-1605.78\" font-family=\"Times,serif\" font-size=\"14.00\">void (freespace_planner::FreespacePlannerNode::?)(nav_msgs::msg::Odometry*)</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"3674,-1601.98 3674,-1616.98 \"/>\n<text text-anchor=\"middle\" x=\"3676.5\" y=\"-1605.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n</a>\n</g>\n</g>\n<!-- INPUT&#45;&gt;187651235284384 -->\n<g id=\"edge55\" 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2978.5,-1025.98 \"/>\n<text text-anchor=\"middle\" x=\"3387\" y=\"-1014.78\" font-family=\"Times,serif\" font-size=\"14.00\">void (autoware::motion::control::trajectory_follower_nodes::LongitudinalController::?)(nav_msgs::msg::Odometry*)</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"3795.5,-1010.98 3795.5,-1025.98 \"/>\n<text text-anchor=\"middle\" x=\"3798\" y=\"-1014.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n</a>\n</g>\n</g>\n<!-- INPUT&#45;&gt;187651235237984 -->\n<g id=\"edge49\" class=\"edge\">\n<title>INPUT:out&#45;&gt;187651235237984:in</title>\n<g id=\"a_edge49\"><a xlink:title=\"/localization/kinematic_state\">\n<path fill=\"none\" stroke=\"black\" d=\"M50.5,-1562.48C50.5,-1526.81 63.03,-945.94 89,-921.48 182.26,-833.65 1113.9,-919.85 1242,-921.48 1573.64,-925.71 1656.79,-923.15 1988,-940.48 2422.68,-963.23 2531.6,-1017.62 2961.78,-1018.47\"/>\n<polygon fill=\"black\" stroke=\"black\" points=\"2962,-1021.97 2972,-1018.48 2962,-1014.97 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text-anchor=\"middle\" x=\"3387\" y=\"-846.78\" font-family=\"Times,serif\" font-size=\"14.00\">void (autoware::motion::control::trajectory_follower_nodes::LateralController::?)(nav_msgs::msg::Odometry*)</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"3776,-842.98 3776,-857.98 \"/>\n<text text-anchor=\"middle\" x=\"3778.5\" y=\"-846.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n</a>\n</g>\n</g>\n<!-- INPUT&#45;&gt;187651234414560 -->\n<g id=\"edge48\" class=\"edge\">\n<title>INPUT:out&#45;&gt;187651234414560:in</title>\n<g id=\"a_edge48\"><a xlink:title=\"/localization/kinematic_state\">\n<path fill=\"none\" stroke=\"black\" d=\"M50.5,-1562.48C50.5,-1523.2 60.51,-883.52 89,-856.48 146.12,-802.28 2783.29,-848.22 2981.98,-850.4\"/>\n<polygon fill=\"black\" stroke=\"black\" points=\"2981.97,-853.9 2992,-850.48 2982.03,-846.9 2981.97,-853.9\"/>\n</a>\n</g>\n</g>\n<!-- 187651236518192 -->\n<g id=\"node89\" class=\"node\">\n<title>187651236518192</title>\n<g 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1321,-473.98\"/>\n<text text-anchor=\"middle\" x=\"1323.5\" y=\"-477.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n<polyline fill=\"none\" stroke=\"black\" points=\"1326,-473.98 1326,-488.98 \"/>\n<text text-anchor=\"middle\" x=\"1633\" y=\"-477.78\" font-family=\"Times,serif\" font-size=\"14.00\">void (EmergencyHandler::?)(autoware_auto_vehicle_msgs::msg::ControlModeReport*)</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"1940,-473.98 1940,-488.98 \"/>\n<text text-anchor=\"middle\" x=\"1942.5\" y=\"-477.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n</a>\n</g>\n</g>\n<!-- INPUT&#45;&gt;187650830008528 -->\n<g id=\"edge67\" class=\"edge\">\n<title>INPUT:out&#45;&gt;187650830008528:in</title>\n<g id=\"a_edge67\"><a xlink:title=\"/vehicle/status/control_mode\">\n<path fill=\"none\" stroke=\"black\" d=\"M50.5,-1562.48C50.5,-1533.52 68.47,-540.91 89,-520.48 280.67,-329.82 1027.76,-477.77 1309.76,-481.42\"/>\n<polygon fill=\"black\" 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89,-702.48 97.85,-693.75 288.64,-705.18 333.24,-698.29\"/>\n<polygon fill=\"black\" stroke=\"black\" points=\"334.58,-701.52 342.5,-694.48 331.92,-695.05 334.58,-701.52\"/>\n</a>\n</g>\n</g>\n<!-- 281472225979632 -->\n<g id=\"node110\" class=\"node\">\n<title>281472225979632</title>\n<g id=\"a_node110\"><a xlink:title=\"2µs, 5µs, 263µs\">\n<polygon fill=\"none\" stroke=\"black\" points=\"312,-970.98 312,-985.98 1019,-985.98 1019,-970.98 312,-970.98\"/>\n<text text-anchor=\"middle\" x=\"314.5\" y=\"-974.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n<polyline fill=\"none\" stroke=\"black\" points=\"317,-970.98 317,-985.98 \"/>\n<text text-anchor=\"middle\" x=\"665.5\" y=\"-974.78\" font-family=\"Times,serif\" font-size=\"14.00\">void (surround_obstacle_checker::SurroundObstacleCheckerNode::?)(nav_msgs::msg::Odometry*)</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"1014,-970.98 1014,-985.98 \"/>\n<text text-anchor=\"middle\" x=\"1016.5\" y=\"-974.78\" 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xlink:title=\"/perception/obstacle_segmentation/pointcloud\">\n<path fill=\"none\" stroke=\"black\" d=\"M50.5,-1562.48C50.5,-1536.02 69.1,-1344.92 89,-1327.48 98.71,-1318.98 296.73,-1330.68 342.23,-1323.39\"/>\n<polygon fill=\"black\" stroke=\"black\" points=\"343.64,-1326.59 351.5,-1319.48 340.93,-1320.14 343.64,-1326.59\"/>\n</a>\n</g>\n</g>\n<!-- 281471555215120 -->\n<g id=\"node122\" class=\"node\">\n<title>281471555215120</title>\n<g id=\"a_node122\"><a xlink:title=\"0µs, 0µs, 0µs\">\n<polygon fill=\"none\" stroke=\"black\" points=\"299,-1234.98 299,-1249.98 1032,-1249.98 1032,-1234.98 299,-1234.98\"/>\n<text text-anchor=\"middle\" x=\"301.5\" y=\"-1238.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n<polyline fill=\"none\" stroke=\"black\" points=\"304,-1234.98 304,-1249.98 \"/>\n<text text-anchor=\"middle\" x=\"665.5\" y=\"-1238.78\" font-family=\"Times,serif\" font-size=\"14.00\">void (motion_planning::ObstacleStopPlannerNode::?)(tier4_planning_msgs::msg::ExpandStopRange*)</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"1027,-1234.98 1027,-1249.98 \"/>\n<text text-anchor=\"middle\" x=\"1029.5\" y=\"-1238.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n</a>\n</g>\n</g>\n<!-- INPUT&#45;&gt;281471555215120 -->\n<g id=\"edge41\" class=\"edge\">\n<title>INPUT:out&#45;&gt;281471555215120:in</title>\n<g id=\"a_edge41\"><a xlink:title=\"/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/input/expand_stop_range\">\n<path fill=\"none\" stroke=\"black\" d=\"M50.5,-1562.48C50.5,-1528.55 63.96,-1282.39 89,-1259.48 96.58,-1252.55 251.51,-1260.55 291.92,-1255.01\"/>\n<polygon fill=\"black\" stroke=\"black\" points=\"293.32,-1258.22 301.5,-1251.48 290.91,-1251.65 293.32,-1258.22\"/>\n</a>\n</g>\n</g>\n<!-- 281471555234272 -->\n<g id=\"node123\" class=\"node\">\n<title>281471555234272</title>\n<g id=\"a_node123\"><a xlink:title=\"3µs, 8µs, 359µs\">\n<polygon fill=\"none\" stroke=\"black\" points=\"368.5,-1336.98 368.5,-1351.98 962.5,-1351.98 962.5,-1336.98 368.5,-1336.98\"/>\n<text text-anchor=\"middle\" x=\"371\" y=\"-1340.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n<polyline fill=\"none\" stroke=\"black\" points=\"373.5,-1336.98 373.5,-1351.98 \"/>\n<text text-anchor=\"middle\" x=\"665.5\" y=\"-1340.78\" font-family=\"Times,serif\" font-size=\"14.00\">void (motion_planning::ObstacleStopPlannerNode::?)(nav_msgs::msg::Odometry*)</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"957.5,-1336.98 957.5,-1351.98 \"/>\n<text text-anchor=\"middle\" x=\"960\" y=\"-1340.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n</a>\n</g>\n</g>\n<!-- INPUT&#45;&gt;281471555234272 -->\n<g id=\"edge54\" class=\"edge\">\n<title>INPUT:out&#45;&gt;281471555234272:in</title>\n<g id=\"a_edge54\"><a xlink:title=\"/localization/kinematic_state\">\n<path fill=\"none\" stroke=\"black\" 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1065,-1283.98 \"/>\n<text text-anchor=\"middle\" x=\"1067.5\" y=\"-1272.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n</a>\n</g>\n</g>\n<!-- INPUT&#45;&gt;281471555182320 -->\n<g id=\"edge74\" class=\"edge\">\n<title>INPUT:out&#45;&gt;281471555182320:in</title>\n<g id=\"a_edge74\"><a xlink:title=\"/perception/object_recognition/objects\">\n<path fill=\"none\" stroke=\"black\" d=\"M50.5,-1562.48C50.5,-1532.29 66.65,-1313.78 89,-1293.48 101.35,-1282.27 221.35,-1298.76 254.85,-1291.3\"/>\n<polygon fill=\"black\" stroke=\"black\" points=\"257.15,-1293.97 263.5,-1285.48 253.25,-1288.16 257.15,-1293.97\"/>\n</a>\n</g>\n</g>\n<!-- 187651165425504 -->\n<g id=\"node129\" class=\"node\">\n<title>187651165425504</title>\n<g id=\"a_node129\"><a xlink:title=\"1µs, 7µs, 538µs\">\n<polygon fill=\"none\" stroke=\"black\" points=\"2099.5,-1080.98 2099.5,-1095.98 2786.5,-1095.98 2786.5,-1080.98 2099.5,-1080.98\"/>\n<text text-anchor=\"middle\" x=\"2102\" y=\"-1084.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n<polyline fill=\"none\" stroke=\"black\" points=\"2104.5,-1080.98 2104.5,-1095.98 \"/>\n<text text-anchor=\"middle\" x=\"2443\" y=\"-1084.78\" font-family=\"Times,serif\" font-size=\"14.00\">void (motion_velocity_smoother::MotionVelocitySmootherNode::?)(nav_msgs::msg::Odometry*)</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"2781.5,-1080.98 2781.5,-1095.98 \"/>\n<text text-anchor=\"middle\" x=\"2784\" y=\"-1084.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n</a>\n</g>\n</g>\n<!-- INPUT&#45;&gt;187651165425504 -->\n<g id=\"edge46\" class=\"edge\">\n<title>INPUT:out&#45;&gt;187651165425504:in</title>\n<g id=\"a_edge46\"><a xlink:title=\"/localization/kinematic_state\">\n<path fill=\"none\" stroke=\"black\" d=\"M50.5,-1562.48C50.5,-1529.3 64.79,-989.18 89,-966.48 182.46,-878.86 1114,-961.09 1242,-966.48 1574.44,-980.5 1691.83,-877.84 1988,-1029.48 2009.88,-1040.69 2002.22,-1060.08 2024,-1071.48 2029.97,-1074.61 2073.37,-1072.47 2092.72,-1075.38\"/>\n<polygon fill=\"black\" stroke=\"black\" points=\"2091.44,-1078.64 2102,-1079.48 2094.27,-1072.24 2091.44,-1078.64\"/>\n</a>\n</g>\n</g>\n<!-- 187651122540608 -->\n<g id=\"node131\" class=\"node\">\n<title>187651122540608</title>\n<g id=\"a_node131\"><a xlink:title=\"0µs, 0µs, 0µs\">\n<polygon fill=\"none\" stroke=\"black\" points=\"359,-2773.98 359,-2788.98 972,-2788.98 972,-2773.98 359,-2773.98\"/>\n<text text-anchor=\"middle\" x=\"361.5\" y=\"-2777.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n<polyline fill=\"none\" stroke=\"black\" points=\"364,-2773.98 364,-2788.98 \"/>\n<text text-anchor=\"middle\" x=\"665.5\" y=\"-2777.78\" font-family=\"Times,serif\" font-size=\"14.00\">void (robot_state_publisher::RobotStatePublisher::?)(sensor_msgs::msg::JointState*)</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"967,-2773.98 967,-2788.98 \"/>\n<text text-anchor=\"middle\" x=\"969.5\" y=\"-2777.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n</a>\n</g>\n</g>\n<!-- INPUT&#45;&gt;187651122540608 -->\n<g id=\"edge92\" class=\"edge\">\n<title>INPUT:out&#45;&gt;187651122540608:in</title>\n<g id=\"a_edge92\"><a xlink:title=\"/joint_states\">\n<path fill=\"none\" stroke=\"black\" d=\"M50.5,-1580.48C50.5,-1613.25 66,-2736.14 89,-2759.48 108.11,-2778.88 312.84,-2749.45 354.23,-2765.25\"/>\n<polygon fill=\"black\" stroke=\"black\" points=\"351.94,-2767.91 361.5,-2772.48 356.88,-2762.95 351.94,-2767.91\"/>\n</a>\n</g>\n</g>\n<!-- OUTPUT -->\n<g id=\"node2\" class=\"node\">\n<title>OUTPUT</title>\n<polygon fill=\"none\" stroke=\"black\" points=\"3353,-1403.98 3353,-1418.98 3421,-1418.98 3421,-1403.98 3353,-1403.98\"/>\n<text text-anchor=\"middle\" x=\"3355.5\" y=\"-1407.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n<polyline fill=\"none\" stroke=\"black\" points=\"3358,-1403.98 3358,-1418.98 \"/>\n<text text-anchor=\"middle\" x=\"3389.5\" y=\"-1407.78\" font-family=\"Times,serif\" font-size=\"14.00\">OUTPUT</text>\n</g>\n<!-- 281471292182224 -->\n<g id=\"node4\" class=\"node\">\n<title>281471292182224</title>\n<g id=\"a_node4\"><a xlink:title=\"47µs, 17818µs, 40636µs\">\n<polygon fill=\"none\" stroke=\"black\" points=\"226.5,-2126.98 226.5,-2141.98 1104.5,-2141.98 1104.5,-2126.98 226.5,-2126.98\"/>\n<text text-anchor=\"middle\" x=\"229\" y=\"-2130.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n<polyline fill=\"none\" stroke=\"black\" points=\"231.5,-2126.98 231.5,-2141.98 \"/>\n<text text-anchor=\"middle\" x=\"665.5\" y=\"-2130.78\" font-family=\"Times,serif\" font-size=\"14.00\">void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_planning_msgs::msg::PathWithLaneId*)</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"1099.5,-2126.98 1099.5,-2141.98 \"/>\n<text text-anchor=\"middle\" x=\"1102\" y=\"-2130.78\" font-family=\"Times,serif\" font-size=\"14.00\"> 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font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n<polyline fill=\"none\" stroke=\"black\" points=\"1349,-1662.98 1349,-1677.98 \"/>\n<text text-anchor=\"middle\" x=\"1633\" y=\"-1666.78\" font-family=\"Times,serif\" font-size=\"14.00\">void (ObstacleAvoidancePlanner::?)(autoware_auto_planning_msgs::msg::Path*)</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"1917,-1662.98 1917,-1677.98 \"/>\n<text text-anchor=\"middle\" x=\"1919.5\" y=\"-1666.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n</a>\n</g>\n</g>\n<!-- 281471292182224&#45;&gt;187651170508848 -->\n<g id=\"edge38\" class=\"edge\">\n<title>281471292182224:out&#45;&gt;187651170508848:in</title>\n<g id=\"a_edge38\"><a xlink:title=\"/planning/scenario_planning/lane_driving/behavior_planning/path (2.76ms)\">\n<path fill=\"none\" stroke=\"black\" d=\"M1102.5,-2125.48C1102.5,-2109.96 1230.1,-2127.46 1242,-2117.48 1278.32,-2087.05 1339.15,-1766.13 1345.47,-1689.86\"/>\n<polygon fill=\"black\" 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(motion_velocity_smoother::MotionVelocitySmootherNode::?)(autoware_auto_planning_msgs::msg::Trajectory*)</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"2857,-1114.98 2857,-1129.98 \"/>\n<text text-anchor=\"middle\" x=\"2859.5\" y=\"-1118.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n</a>\n</g>\n</g>\n<!-- 187650725538176&#45;&gt;187651165396336 -->\n<g id=\"edge7\" class=\"edge\">\n<title>187650725538176:out&#45;&gt;187651165396336:in</title>\n<g id=\"a_edge7\"><a xlink:title=\"/planning/scenario_planning/scenario_selector/trajectory (1.10ms)\">\n<path fill=\"none\" stroke=\"black\" d=\"M1925,-1376.48C1925,-1362.37 1977.86,-1378.3 1988,-1368.48 2005.55,-1351.49 2022.83,-1189.14 2025.61,-1141.5\"/>\n<polygon fill=\"black\" stroke=\"black\" points=\"2029.11,-1141.61 2026,-1131.48 2022.12,-1141.34 2029.11,-1141.61\"/>\n</a>\n</g>\n</g>\n<!-- 187650725528480 -->\n<g id=\"node38\" class=\"node\">\n<title>187650725528480</title>\n<g id=\"a_node38\"><a 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points=\"2229,-1425.98 2229,-1440.98 \"/>\n<text text-anchor=\"middle\" x=\"2443\" y=\"-1429.78\" font-family=\"Times,serif\" font-size=\"14.00\" fill=\"red\">void (planning_diagnostics::PlanningErrorMonitorNode::?)()</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"2657,-1425.98 2657,-1440.98 \"/>\n<text text-anchor=\"middle\" x=\"2659.5\" y=\"-1429.78\" font-family=\"Times,serif\" font-size=\"14.00\" fill=\"red\"> </text>\n</a>\n</g>\n</g>\n<!-- 187650857760512&#45;&gt;OUTPUT -->\n<g id=\"edge112\" class=\"edge\">\n<title>187650857760512:out&#45;&gt;OUTPUT:in</title>\n<g id=\"a_edge112\"><a xlink:title=\"/planning/planning_diagnostics/planning_error_monitor/debug/marker\">\n<path fill=\"none\" stroke=\"black\" d=\"M2663,-1433.48C2965.94,-1433.48 3043.88,-1411.97 3341.76,-1411.49\"/>\n<polygon fill=\"black\" stroke=\"black\" points=\"3342,-1414.99 3352,-1411.48 3342,-1407.99 3342,-1414.99\"/>\n</a>\n</g>\n</g>\n<!-- 187651239920720 -->\n<g id=\"node57\" class=\"node\">\n<title>187651239920720</title>\n<g id=\"a_node57\"><a xlink:title=\"4µs, 4µs, 4µs\">\n<polygon fill=\"none\" stroke=\"black\" points=\"2185.5,-779.98 2185.5,-794.98 2700.5,-794.98 2700.5,-779.98 2185.5,-779.98\"/>\n<text text-anchor=\"middle\" x=\"2188\" y=\"-783.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n<polyline fill=\"none\" stroke=\"black\" points=\"2190.5,-779.98 2190.5,-794.98 \"/>\n<text text-anchor=\"middle\" x=\"2443\" y=\"-783.78\" font-family=\"Times,serif\" font-size=\"14.00\">void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::Engage*)</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"2695.5,-779.98 2695.5,-794.98 \"/>\n<text text-anchor=\"middle\" x=\"2698\" y=\"-783.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n</a>\n</g>\n</g>\n<!-- 187651240076560 -->\n<g id=\"node58\" class=\"node\">\n<title>187651240076560</title>\n<g id=\"a_node58\"><a xlink:title=\"1µs, 2µs, 47µs\">\n<polygon fill=\"none\" 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class=\"node\">\n<title>187651240036592</title>\n<g id=\"a_node64\"><a xlink:title=\"0µs, 0µs, 0µs\">\n<polygon fill=\"none\" stroke=\"black\" points=\"2159,-541.98 2159,-556.98 2727,-556.98 2727,-541.98 2159,-541.98\"/>\n<text text-anchor=\"middle\" x=\"2161.5\" y=\"-545.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n<polyline fill=\"none\" stroke=\"black\" points=\"2164,-541.98 2164,-556.98 \"/>\n<text text-anchor=\"middle\" x=\"2443\" y=\"-545.78\" font-family=\"Times,serif\" font-size=\"14.00\">void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::GearCommand*)</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"2722,-541.98 2722,-556.98 \"/>\n<text text-anchor=\"middle\" x=\"2724.5\" y=\"-545.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n</a>\n</g>\n</g>\n<!-- 187651240083056 -->\n<g id=\"node66\" class=\"node\">\n<title>187651240083056</title>\n<g id=\"a_node66\"><a xlink:title=\"0µs, 0µs, 0µs\">\n<polygon fill=\"none\" stroke=\"black\" 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x=\"2084\" y=\"-1318.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n<polyline fill=\"none\" stroke=\"black\" points=\"2086.5,-1314.98 2086.5,-1329.98 \"/>\n<text text-anchor=\"middle\" x=\"2443\" y=\"-1318.78\" font-family=\"Times,serif\" font-size=\"14.00\">void (mission_planner::GoalPoseVisualizer::?)(autoware_auto_planning_msgs::msg::HADMapRoute*)</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"2799.5,-1314.98 2799.5,-1329.98 \"/>\n<text text-anchor=\"middle\" x=\"2802\" y=\"-1318.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n</a>\n</g>\n</g>\n<!-- 187651612752912&#45;&gt;187651613335744 -->\n<g id=\"edge18\" class=\"edge\">\n<title>187651612752912:out&#45;&gt;187651613335744:in</title>\n<g id=\"a_edge18\"><a xlink:title=\"/planning/mission_planning/route (1.25ms)\">\n<path fill=\"none\" stroke=\"black\" d=\"M958.5,-1195.48C1187.78,-1195.48 1785.87,-1155.26 1988,-1263.48 2011.2,-1275.9 2001.76,-1296.41 2024,-1310.48 2042.32,-1322.07 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y=\"-1157.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n</a>\n</g>\n</g>\n<!-- 187650864460272 -->\n<g id=\"node105\" class=\"node\">\n<title>187650864460272</title>\n<g id=\"a_node105\"><a xlink:title=\"2µs, 5µs, 254µs\">\n<polygon fill=\"none\" stroke=\"black\" points=\"358,-779.98 358,-794.98 973,-794.98 973,-779.98 358,-779.98\"/>\n<text text-anchor=\"middle\" x=\"360.5\" y=\"-783.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n<polyline fill=\"none\" stroke=\"black\" points=\"363,-779.98 363,-794.98 \"/>\n<text text-anchor=\"middle\" x=\"665.5\" y=\"-783.78\" font-family=\"Times,serif\" font-size=\"14.00\">void (AutowareErrorMonitor::?)(autoware_auto_system_msgs::msg::AutowareState*)</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"968,-779.98 968,-794.98 \"/>\n<text text-anchor=\"middle\" x=\"970.5\" y=\"-783.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n</a>\n</g>\n</g>\n<!-- 187650864330336 -->\n<g id=\"node106\" 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stroke=\"black\" points=\"542,-643.98 542,-658.98 789,-658.98 789,-643.98 542,-643.98\"/>\n<text text-anchor=\"middle\" x=\"544.5\" y=\"-647.78\" font-family=\"Times,serif\" font-size=\"14.00\" fill=\"red\"> </text>\n<polyline fill=\"none\" stroke=\"black\" points=\"547,-643.98 547,-658.98 \"/>\n<text text-anchor=\"middle\" x=\"665.5\" y=\"-647.78\" font-family=\"Times,serif\" font-size=\"14.00\" fill=\"red\">void (AutowareErrorMonitor::?)()</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"784,-643.98 784,-658.98 \"/>\n<text text-anchor=\"middle\" x=\"786.5\" y=\"-647.78\" font-family=\"Times,serif\" font-size=\"14.00\" fill=\"red\"> </text>\n</a>\n</g>\n</g>\n<!-- 187650864529200&#45;&gt;OUTPUT -->\n<g id=\"edge99\" class=\"edge\">\n<title>187650864529200:out&#45;&gt;OUTPUT:in</title>\n<g id=\"a_edge99\"><a xlink:title=\"/diagnostics_err\">\n<path fill=\"none\" stroke=\"black\" d=\"M790.5,-651.48C991.31,-651.48 1047.47,-618.68 1242,-668.48 1259.33,-672.92 1261.15,-680.48 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(surround_obstacle_checker::SurroundObstacleCheckerNode::?)()</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"916,-1004.98 916,-1019.98 \"/>\n<text text-anchor=\"middle\" x=\"918.5\" y=\"-1008.78\" font-family=\"Times,serif\" font-size=\"14.00\" fill=\"red\"> </text>\n</a>\n</g>\n</g>\n<!-- 281472225931680&#45;&gt;OUTPUT -->\n<g id=\"edge94\" class=\"edge\">\n<title>281472225931680:out&#45;&gt;OUTPUT:in</title>\n<g id=\"a_edge94\"><a xlink:title=\"/planning/scenario_planning/status/no_start_reason\">\n<path fill=\"none\" stroke=\"black\" d=\"M922.5,-1012.48C1064.7,-1012.48 1100.55,-1014.9 1242,-1029.48 1591.77,-1065.54 1673.89,-1116.89 2024,-1149.48 2209.52,-1166.76 2680.99,-1133.29 2862,-1177.48 3093.13,-1233.91 3110.22,-1406.5 3341.88,-1411.38\"/>\n<polygon fill=\"black\" stroke=\"black\" points=\"3341.96,-1414.88 3352,-1411.48 3342.04,-1407.88 3341.96,-1414.88\"/>\n</a>\n</g>\n</g>\n<!-- 187651237948160 -->\n<g id=\"node114\" class=\"node\">\n<title>187651237948160</title>\n<g id=\"a_node114\"><a xlink:title=\"1µs, 4µs, 90µs\">\n<polygon fill=\"none\" stroke=\"black\" points=\"2981,-795.98 2981,-810.98 3793,-810.98 3793,-795.98 2981,-795.98\"/>\n<text text-anchor=\"middle\" x=\"2983.5\" y=\"-799.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n<polyline fill=\"none\" stroke=\"black\" points=\"2986,-795.98 2986,-810.98 \"/>\n<text text-anchor=\"middle\" x=\"3387\" y=\"-799.78\" font-family=\"Times,serif\" font-size=\"14.00\">void (lane_departure_checker::LaneDepartureCheckerNode::?)(autoware_auto_planning_msgs::msg::Trajectory*)</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"3788,-795.98 3788,-810.98 \"/>\n<text text-anchor=\"middle\" x=\"3790.5\" y=\"-799.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n</a>\n</g>\n</g>\n<!-- 187651235161760 -->\n<g id=\"node116\" class=\"node\">\n<title>187651235161760</title>\n<g id=\"a_node116\"><a xlink:title=\"22µs, 765µs, 5981µs\">\n<polygon fill=\"none\" stroke=\"black\" points=\"3154,-727.98 3154,-742.98 3620,-742.98 3620,-727.98 3154,-727.98\"/>\n<text text-anchor=\"middle\" x=\"3156.5\" y=\"-731.78\" font-family=\"Times,serif\" font-size=\"14.00\" fill=\"red\"> </text>\n<polyline fill=\"none\" stroke=\"black\" points=\"3159,-727.98 3159,-742.98 \"/>\n<text text-anchor=\"middle\" x=\"3387\" y=\"-731.78\" font-family=\"Times,serif\" font-size=\"14.00\" fill=\"red\">void (lane_departure_checker::LaneDepartureCheckerNode::?)()</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"3615,-727.98 3615,-742.98 \"/>\n<text text-anchor=\"middle\" x=\"3617.5\" y=\"-731.78\" font-family=\"Times,serif\" font-size=\"14.00\" fill=\"red\"> </text>\n</a>\n</g>\n</g>\n<!-- 187651238195664 -->\n<g id=\"node118\" class=\"node\">\n<title>187651238195664</title>\n<g id=\"a_node118\"><a xlink:title=\"2µs, 4µs, 85µs\">\n<polygon fill=\"none\" stroke=\"black\" points=\"2981,-761.98 2981,-776.98 3793,-776.98 3793,-761.98 2981,-761.98\"/>\n<text text-anchor=\"middle\" x=\"2983.5\" y=\"-765.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n<polyline fill=\"none\" stroke=\"black\" points=\"2986,-761.98 2986,-776.98 \"/>\n<text text-anchor=\"middle\" x=\"3387\" y=\"-765.78\" font-family=\"Times,serif\" font-size=\"14.00\">void (lane_departure_checker::LaneDepartureCheckerNode::?)(autoware_auto_planning_msgs::msg::Trajectory*)</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"3788,-761.98 3788,-776.98 \"/>\n<text text-anchor=\"middle\" x=\"3790.5\" y=\"-765.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n</a>\n</g>\n</g>\n<!-- 187651237831536 -->\n<g id=\"node119\" class=\"node\">\n<title>187651237831536</title>\n<g id=\"a_node119\"><a xlink:title=\"26800µs, 26800µs, 26800µs\">\n<polygon fill=\"none\" stroke=\"black\" points=\"2973.5,-625.98 2973.5,-640.98 3800.5,-640.98 3800.5,-625.98 2973.5,-625.98\"/>\n<text text-anchor=\"middle\" x=\"2976\" y=\"-629.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n<polyline fill=\"none\" stroke=\"black\" points=\"2978.5,-625.98 2978.5,-640.98 \"/>\n<text text-anchor=\"middle\" x=\"3387\" y=\"-629.78\" font-family=\"Times,serif\" font-size=\"14.00\">void (lane_departure_checker::LaneDepartureCheckerNode::?)(autoware_auto_mapping_msgs::msg::HADMapBin*)</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"3795.5,-625.98 3795.5,-640.98 \"/>\n<text text-anchor=\"middle\" x=\"3798\" y=\"-629.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n</a>\n</g>\n</g>\n<!-- 187650884621760 -->\n<g id=\"node120\" class=\"node\">\n<title>187650884621760</title>\n<g id=\"a_node120\"><a xlink:title=\"14734µs, 14734µs, 14734µs\">\n<polygon fill=\"none\" stroke=\"black\" points=\"2109.5,-1267.98 2109.5,-1282.98 2776.5,-1282.98 2776.5,-1267.98 2109.5,-1267.98\"/>\n<text text-anchor=\"middle\" x=\"2112\" y=\"-1271.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n<polyline fill=\"none\" stroke=\"black\" points=\"2114.5,-1267.98 2114.5,-1282.98 \"/>\n<text text-anchor=\"middle\" x=\"2443\" y=\"-1271.78\" font-family=\"Times,serif\" font-size=\"14.00\">void (Lanelet2MapVisualizationNode::?)(autoware_auto_mapping_msgs::msg::HADMapBin*)</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"2771.5,-1267.98 2771.5,-1282.98 \"/>\n<text text-anchor=\"middle\" x=\"2774\" y=\"-1271.78\" font-family=\"Times,serif\" font-size=\"14.00\"> </text>\n</a>\n</g>\n</g>\n<!-- 187650884621760&#45;&gt;OUTPUT -->\n<g id=\"edge102\" class=\"edge\">\n<title>187650884621760:out&#45;&gt;OUTPUT:in</title>\n<g id=\"a_edge102\"><a xlink:title=\"/map/vector_map_marker\">\n<path fill=\"none\" stroke=\"black\" d=\"M2778,-1275.48C3036.72,-1275.48 3088.48,-1407.92 3341.74,-1411.41\"/>\n<polygon fill=\"black\" stroke=\"black\" points=\"3341.98,-1414.91 3352,-1411.48 3342.02,-1407.91 3341.98,-1414.91\"/>\n</a>\n</g>\n</g>\n<!-- 281471555072288&#45;&gt;OUTPUT -->\n<g id=\"edge109\" 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x=\"1633\" y=\"-387.78\" font-family=\"Times,serif\" font-size=\"14.00\" fill=\"red\">void (ShiftDecider::?)()</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"1714.5,-383.98 1714.5,-398.98 \"/>\n<text text-anchor=\"middle\" x=\"1717\" y=\"-387.78\" font-family=\"Times,serif\" font-size=\"14.00\" fill=\"red\"> </text>\n</a>\n</g>\n</g>\n<!-- 187651238636192&#45;&gt;187651239979264 -->\n<g id=\"edge32\" class=\"edge\">\n<title>187651238636192:out&#45;&gt;187651239979264:in</title>\n<g id=\"a_edge32\"><a xlink:title=\"/control/shift_decider/gear_cmd (0.83ms)\">\n<path fill=\"none\" stroke=\"black\" d=\"M1721,-391.48C1839.91,-391.48 1882.82,-429.94 1988,-374.48 2010.97,-362.38 2001.43,-341.3 2024,-328.48 2073.14,-300.58 2095.31,-310.15 2147.83,-311.36\"/>\n<polygon fill=\"black\" stroke=\"black\" points=\"2147.96,-314.87 2158,-311.48 2148.04,-307.87 2147.96,-314.87\"/>\n</a>\n</g>\n</g>\n<!-- 187651165396336&#45;&gt;OUTPUT -->\n<g id=\"edge100\" 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281470279497792 -->\n<g id=\"node133\" class=\"node\">\n<title>281470279497792</title>\n<g id=\"a_node133\"><a xlink:title=\"146µs, 182µs, 437µs\">\n<polygon fill=\"none\" stroke=\"black\" points=\"2422,-3060.98 2422,-3075.98 2596,-3075.98 2596,-3060.98 2422,-3060.98\"/>\n<text text-anchor=\"middle\" x=\"2424.5\" y=\"-3064.78\" font-family=\"Times,serif\" font-size=\"14.00\" fill=\"red\"> </text>\n<polyline fill=\"none\" stroke=\"black\" points=\"2427,-3060.98 2427,-3075.98 \"/>\n<text text-anchor=\"middle\" x=\"2509\" y=\"-3064.78\" font-family=\"Times,serif\" font-size=\"14.00\" fill=\"red\">void (HDDMonitor::?)()</text>\n<polyline fill=\"none\" stroke=\"black\" points=\"2591,-3060.98 2591,-3075.98 \"/>\n<text text-anchor=\"middle\" x=\"2593.5\" y=\"-3064.78\" font-family=\"Times,serif\" font-size=\"14.00\" fill=\"red\"> </text>\n</a>\n</g>\n</g>\n</g>\n</svg>\n",
      "text/plain": [
       "<graphviz.graphs.Digraph at 0x7ff7a78b04f0>"
      ]
     },
     "execution_count": 14,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "\n",
    "#################################################\n",
    "# Plot DFG\n",
    "#################################################\n",
    "\n",
    "import graphviz as gv\n",
    "\n",
    "g = gv.Digraph('G', filename=\"latency_graph.gv\", node_attr={'shape': 'record', 'margin': '0.00001', 'width': '0.00001', 'height': '0.001'}, graph_attr={'pack': '1'})\n",
    "g.graph_attr['rankdir'] = 'LR'\n",
    "\n",
    "g.node(\"INPUT\", gv.nohtml(\"{INPUT |<out>}\"))\n",
    "g.node(\"OUTPUT\", gv.nohtml(\"{<in> |OUTPUT}\"))\n",
    "\n",
    "nodes_to_cbs = {}\n",
    "export_dict = {}\n",
    "\n",
    "for vert in latency_graph.verts:\n",
    "    vert: CallbackObject\n",
    "\n",
    "    if isinstance(vert.owner, Timer):\n",
    "        owner_nodes = vert.owner.nodes\n",
    "    elif isinstance(vert.owner, SubscriptionObject):\n",
    "        owner_nodes = [vert.owner.subscription.node]\n",
    "    else:\n",
    "        owner_nodes = []\n",
    "\n",
    "    if len(owner_nodes) > 1:\n",
    "        raise RuntimeError(f\"CB has owners {', '.join(map(lambda n: n.path, owner_nodes))}\")\n",
    "    elif not owner_nodes:\n",
    "        print(\"[WARN] CB has no owners\")\n",
    "        continue\n",
    "\n",
    "    owner = owner_nodes[0]\n",
    "    if not owner in nodes_to_cbs: nodes_to_cbs[owner] = []\n",
    "    nodes_to_cbs[owner].append(vert)\n",
    "    if not owner.path in export_dict: export_dict[owner.path] = []\n",
    "\n",
    "for node, cbs in nodes_to_cbs.items():\n",
    "    with g.subgraph(name=f\"cluster_{node.path}\") as c:\n",
    "        c.attr(label=node.path)\n",
    "        c.attr(margin='0.0')\n",
    "        c.attr(bgcolor='lightgray')\n",
    "\n",
    "        for cb in cbs:\n",
    "            cb: CallbackObject\n",
    "            pretty_sym = Ros2DataModelUtil._prettify(None, callback_symbols[cb.callback_object].symbol)\n",
    "            pretty_sym = re.sub(r\"std::shared_ptr<(.*?) *(const)?>\", r\"\\1*\", pretty_sym)\n",
    "            pretty_sym = pretty_sym.replace('{', '\\\\{').replace('}', '\\\\}')\n",
    "\n",
    "            export_dict[node.path].append({cb.id: {\n",
    "                'symbol': pretty_sym, \n",
    "                'ins': sum(map(lambda k: k[1].id == cb.id, latency_graph.edges.keys())) + sum(map(lambda k: k.id == cb.id, latency_graph.starts.keys())), \n",
    "                'outs': sum(map(lambda k: k[0].id == cb.id, latency_graph.edges.keys())) + sum(map(lambda k: k.id == cb.id, latency_graph.ends.keys()))\n",
    "                }})\n",
    "\n",
    "            cb_durations = np.array(list(map(lambda inst: inst.duration.total_seconds(), cb.callback_instances)))\n",
    "            if len(cb_durations) == 0:\n",
    "                cb_durations = np.zeros(1)\n",
    "            cb_dur_stats = (cb_durations.min(), cb_durations.mean(), cb_durations.max())\n",
    "            c.node(str(cb.id), gv.nohtml(f\"{{<in> |{pretty_sym} |<out>}}\"), tooltip=f\"{cb_dur_stats[0]*1e6:.0f}µs, {cb_dur_stats[1]*1e6:.0f}µs, {cb_dur_stats[2]*1e6:.0f}µs\", fontcolor=('red' if isinstance(cb.owner, Timer) else 'black'))\n",
    "\n",
    "\n",
    "for (c1, c2), (topic, lat_stats) in latency_graph.edges.items():\n",
    "    g.edge(f\"{c1.id}:out\", f\"{c2.id}:in\", tooltip=f\"{topic.name} ({lat_stats.mean()*1000:.2f}ms)\")\n",
    "\n",
    "for c, t in latency_graph.starts.items():\n",
    "    g.edge(\"INPUT:out\", f\"{c.id}:in\", tooltip=t.name)\n",
    "\n",
    "for c, t in latency_graph.ends.items():\n",
    "    g.edge(f\"{c.id}:out\", \"OUTPUT:in\", tooltip=t.name)\n",
    "\n",
    "for n, deps in node_internal_deps.items():\n",
    "    for cb, dep_cbs in deps.items():\n",
    "        for dep_cb in dep_cbs:\n",
    "            g.edge(f\"{dep_cb.id}:out\", f\"{cb.id}:in\", tooltip=\"node-internal data dependency\", color='red')\n",
    "\n",
    "with open(\"settings/node-cbs.yaml\", \"w\") as f:\n",
    "    yaml = YAML()\n",
    "    yaml.dump(export_dict, f)\n",
    "\n",
    "g.save(\"latency_graph.gv\")\n",
    "\n",
    "g"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "....................................*.......................................*.......................................*........................................*.......................................*...#*....................................*.......................................*.......................................*.........................................*.......................................*.......................................*.......................................*.....#*..........................................*.......................................*.......................................*.......................................*.....#**.....................................*.......................................*.......................................*.......................................*.......................................*.......................................*.......................................*.......................................*.......................................*.......#*....................................*.......................................*...#**#***.****.**.#**....................................*.......................................*........................................*.......................................*.......................................*.........................................*........................................*.......................................*.........................................*.......................................*.......................................*.......................................*.......................................*.......................................*.........................................*............................................*.......................................*.........................................*.........................................*.......................................*...........................................*........................................*.......................................*.........................................*.......................................*..........................................*.......................................*.........................................*...#**....................................*.....#****.........................................*.......................................*.....*.===== PATH 0 =====\n",
      "===== PATH 1 =====\n",
      "===== PATH 2 =====\n",
      "===== PATH 3 =====\n",
      "===== PATH 4 =====\n",
      "/diagnostics                                                                                                             56.812ms 56.812ms\n",
      "===== PATH 5 =====\n",
      "===== PATH 6 =====\n",
      "===== PATH 7 =====\n",
      "===== PATH 8 =====\n",
      "===== PATH 9 =====\n",
      "===== PATH 10 =====\n",
      "===== PATH 11 =====\n",
      "===== PATH 12 =====\n",
      "===== PATH 13 =====\n",
      "===== PATH 14 =====\n",
      "===== PATH 15 =====\n",
      "===== PATH 16 =====\n",
      "===== PATH 17 =====\n",
      "===== PATH 18 =====\n",
      "===== PATH 19 =====\n",
      "===== PATH 20 =====\n",
      "===== PATH 21 =====\n",
      "===== PATH 22 =====\n",
      "===== PATH 23 =====\n",
      "===== PATH 24 =====\n",
      "===== PATH 25 =====\n",
      "===== PATH 26 =====\n",
      "===== PATH 27 =====\n",
      "===== PATH 28 =====\n",
      "/diagnostics                                                                                                             56.812ms 56.812ms\n",
      "===== PATH 29 =====\n",
      "===== PATH 30 =====\n",
      "===== PATH 31 =====\n",
      "===== PATH 32 =====\n",
      "===== PATH 33 =====\n",
      "===== PATH 34 =====\n",
      "===== PATH 35 =====\n",
      "===== PATH 36 =====\n",
      "===== PATH 37 =====\n",
      "===== PATH 38 =====\n",
      "===== PATH 39 =====\n",
      "===== PATH 40 =====\n",
      "===== PATH 41 =====\n",
      "===== PATH 42 =====\n",
      "===== PATH 43 =====\n",
      "===== PATH 44 =====\n",
      "===== PATH 45 =====\n",
      "===== PATH 46 =====\n",
      "===== PATH 47 =====\n",
      "===== PATH 48 =====\n",
      "===== PATH 49 =====\n",
      "===== PATH 50 =====\n",
      "===== PATH 51 =====\n",
      "===== PATH 52 =====\n"
     ]
    }
   ],
   "source": [
    "\n",
    "#################################################\n",
    "# Transitively add latencies to get E2E latency\n",
    "#################################################\n",
    "\n",
    "@dataclass\n",
    "class PathElem:\n",
    "    src: CallbackObject\n",
    "    dst: CallbackObject\n",
    "    topic: Topic\n",
    "    latencies: LatencyStats\n",
    "\n",
    "def get_latency_paths(cb1, cb_to_cb_to_lat_stats, goals, parent_path=[]) -> List[List[PathElem]]:\n",
    "    if cb1 in goals:\n",
    "        return [parent_path]\n",
    "\n",
    "    if cb1 not in cb_to_cb_to_lat_stats:\n",
    "        return [parent_path]\n",
    "\n",
    "    paths = []\n",
    "    for cb2 in cb_to_cb_to_lat_stats[cb1]:\n",
    "        for topic, lats in cb_to_cb_to_lat_stats[cb1][cb2].items():\n",
    "            new_paths = get_latency_paths(cb2, cb_to_cb_to_lat_stats, goals, parent_path + [PathElem(cb1, cb2, topic, lats)])\n",
    "            paths += new_paths\n",
    "\n",
    "    return paths\n",
    "\n",
    "\n",
    "cb_to_cb_to_lat_stats = {}\n",
    "for (pub, cb2), lat_stats in pub_cb_to_lat_stats.items():\n",
    "    if pub not in pub_to_scored_cb:\n",
    "        #print(f\"[WARN] Pub on topic {pub.topic.name} not in pub_to_scored_cb, skipping.\")\n",
    "        print(end='.')\n",
    "        continue\n",
    "    if len(pub_to_scored_cb[pub]) > 1:\n",
    "        #print(f\"[WARN] Pub on topic {pub.topic.name} has {len(pub_to_scored_cb[pub])} callbacks.\")\n",
    "        print(end='#')\n",
    "    for cb1, score in pub_to_scored_cb[pub]:\n",
    "        if score != 1.0:\n",
    "            #print(f\"[WARN] Callback for topic {pub.topic.name} only has a score of {score*100:.3f}%\")\n",
    "            print(end='*')\n",
    "        if cb1 in cb_to_cb_to_lat_stats and cb2 in cb_to_cb_to_lat_stats[cb1]:\n",
    "            #print(f\"[WARN] Pair of callbacks already in dict!\")\n",
    "            print(end='_')\n",
    "        else:\n",
    "            if cb1 not in cb_to_cb_to_lat_stats:\n",
    "                cb_to_cb_to_lat_stats[cb1] = {}\n",
    "            if cb2 not in cb_to_cb_to_lat_stats[cb1]:\n",
    "                cb_to_cb_to_lat_stats[cb1][cb2] = {}\n",
    "        cb_to_cb_to_lat_stats[cb1][cb2][pub.topic] = pub_cb_to_lat_stats[(pub, cb2)]\n",
    "\n",
    "latency_paths = []\n",
    "for cb in inputs:\n",
    "    latency_paths += get_latency_paths(cb, cb_to_cb_to_lat_stats, outputs.keys())\n",
    "\n",
    "def pl(l, lvl=0):\n",
    "    if isinstance(l, list):\n",
    "        print(\"  \"*lvl, type(l), len(l))\n",
    "        for i in l:\n",
    "            pl(i, lvl+1)\n",
    "    else:\n",
    "        print(\"  \"*lvl, type(l))\n",
    "\n",
    "#pl(latency_paths)\n",
    "\n",
    "for i, path in enumerate(latency_paths):\n",
    "    print(\"===== PATH\", i, \"=====\")\n",
    "    #print(type(path))\n",
    "    tot_lat = 0.0\n",
    "    for item in path:\n",
    "        tot_lat += item.latencies.mean()\n",
    "        print(f\"{item.topic.name:120s} {item.latencies.mean()*1000:.3f}ms {tot_lat*1000:.3f}ms\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "fig = plt.figure(figsize=(30, 10))\n",
    "ax = fig.add_subplot()\n",
    "\n",
    "for lat_stats in pub_cb_to_lat_stats.values():\n",
    "    ax.plot(lat_stats.index, np.where(np.isnan(lat_stats), 0, lat_stats))\n",
    "\n",
    "ax.set_ylim(0, .1)\n",
    "ax.set_xlim(655+1.652795e9, 660+1.652795e9)\n",
    "None"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
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