From f9ef14e058270ca0cadc35357ca6c32c60fc2c9a Mon Sep 17 00:00:00 2001
From: Christophe Bedard <bedard.christophe@gmail.com>
Date: Wed, 31 Mar 2021 14:50:17 -0400
Subject: [PATCH] Set callback_instances' timestamp & duration cols to
 datetime/timedelta

Signed-off-by: Christophe Bedard <bedard.christophe@gmail.com>
---
 tracetools_analysis/analysis/callback_duration.ipynb  |  3 ++-
 .../tracetools_analysis/data_model/ros2.py            |  5 +++--
 .../tracetools_analysis/scripts/cb_durations.py       | 11 ++++++++---
 tracetools_analysis/tracetools_analysis/utils/ros2.py |  9 ++++-----
 4 files changed, 17 insertions(+), 11 deletions(-)

diff --git a/tracetools_analysis/analysis/callback_duration.ipynb b/tracetools_analysis/analysis/callback_duration.ipynb
index 3e6f044..4954a97 100644
--- a/tracetools_analysis/analysis/callback_duration.ipynb
+++ b/tracetools_analysis/analysis/callback_duration.ipynb
@@ -127,7 +127,8 @@
     "    duration.xaxis[0].formatter = DatetimeTickFormatter(seconds=['%Ss'])\n",
     "\n",
     "    # Histogram\n",
-    "    dur_hist, edges = np.histogram(duration_df['duration'])\n",
+    "    # (convert to milliseconds)\n",
+    "    dur_hist, edges = np.histogram(duration_df['duration'] * 1000 / np.timedelta64(1, 's'))\n",
     "    duration_hist = pd.DataFrame({\n",
     "        'duration': dur_hist, \n",
     "        'left': edges[:-1], \n",
diff --git a/tracetools_analysis/tracetools_analysis/data_model/ros2.py b/tracetools_analysis/tracetools_analysis/data_model/ros2.py
index 3d10b6c..8fe8462 100644
--- a/tracetools_analysis/tracetools_analysis/data_model/ros2.py
+++ b/tracetools_analysis/tracetools_analysis/data_model/ros2.py
@@ -15,6 +15,7 @@
 
 """Module for ROS 2 data model."""
 
+import numpy as np
 import pandas as pd
 
 from . import DataModel
@@ -167,8 +168,8 @@ class Ros2DataModel(DataModel):
     ) -> None:
         self._callback_instances.append({
             'callback_object': callback_object,
-            'timestamp': timestamp,
-            'duration': duration,
+            'timestamp': np.datetime64(timestamp, 'ns'),
+            'duration': np.timedelta64(duration, 'ns'),
             'intra_process': intra_process,
         })
 
diff --git a/tracetools_analysis/tracetools_analysis/scripts/cb_durations.py b/tracetools_analysis/tracetools_analysis/scripts/cb_durations.py
index d2fb98a..2e4119e 100644
--- a/tracetools_analysis/tracetools_analysis/scripts/cb_durations.py
+++ b/tracetools_analysis/tracetools_analysis/scripts/cb_durations.py
@@ -13,6 +13,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import numpy as np
 import pandas as pd
 
 from tracetools_analysis.loading import load_file
@@ -48,7 +49,8 @@ def main():
 
     stat_data = []
     for ptr, name in du.get_callback_symbols().items():
-        durations = du.get_callback_durations(ptr)['duration']
+        # Convert to milliseconds to display it
+        durations = du.get_callback_durations(ptr)['duration'] * 1000 / np.timedelta64(1, 's')
         stat_data.append((
             durations.count(),
             durations.sum(),
@@ -57,5 +59,8 @@ def main():
             format_fn(name),
         ))
 
-    stat_df = pd.DataFrame(columns=['Count', 'Sum', 'Mean', 'Std', 'Name'], data=stat_data)
-    print(stat_df.sort_values(by='Sum', ascending=False).to_string())
+    stat_df = pd.DataFrame(
+        columns=['Count', 'Sum (ms)', 'Mean (ms)', 'Std', 'Name'],
+        data=stat_data,
+    )
+    print(stat_df.sort_values(by='Sum (ms)', ascending=False).to_string())
diff --git a/tracetools_analysis/tracetools_analysis/utils/ros2.py b/tracetools_analysis/tracetools_analysis/utils/ros2.py
index 1b2a902..ad868e8 100644
--- a/tracetools_analysis/tracetools_analysis/utils/ros2.py
+++ b/tracetools_analysis/tracetools_analysis/utils/ros2.py
@@ -1,5 +1,6 @@
 # Copyright 2019 Robert Bosch GmbH
 # Copyright 2019 Apex.AI, Inc.
+# Copyright 2021 Christophe Bedard
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -134,15 +135,13 @@ class Ros2DataModelUtil(DataModelUtil):
         Get durations of callback instances for a given callback object.
 
         :param callback_obj: the callback object value
-        :return: a dataframe containing the start timestamp (datetime)
-            and duration (ms) of all callback instances for that object
+        :return: a dataframe containing the start timestamp (np.timestamp64)
+            and duration (np.timedelta64) of all callback instances for that object
         """
-        data = self.data.callback_instances.loc[
+        return self.data.callback_instances.loc[
             self.data.callback_instances.loc[:, 'callback_object'] == callback_obj,
             ['timestamp', 'duration']
         ]
-        # Time conversion
-        return self.convert_time_columns(data, ['duration'], ['timestamp'])
 
     def get_node_tid_from_name(
         self,