Support lifecycle node state transition instrumentation

Signed-off-by: Christophe Bedard <bedard.christophe@gmail.com>

tracetools_analysis/analysis/lifecycle_states.ipynb

@@ -0,0 +1,162 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# Lifecycle node states\n",
+    "#\n",
+    "# Get trace data using the provided launch file:\n",
+    "#    $ ros2 launch tracetools_analysis lifecycle_states.launch.py"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "path = '~/.ros/tracing/lifecycle-node-state/'"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import sys\n",
+    "# Assuming a workspace with:\n",
+    "#   src/tracetools_analysis/\n",
+    "#   src/micro-ROS/ros_tracing/ros2_tracing/tracetools_read/\n",
+    "sys.path.insert(0, '../')\n",
+    "sys.path.insert(0, '../../../micro-ROS/ros_tracing/ros2_tracing/tracetools_read/')\n",
+    "import datetime as dt\n",
+    "\n",
+    "from bokeh.palettes import Category10\n",
+    "from bokeh.plotting import figure\n",
+    "from bokeh.plotting import output_notebook\n",
+    "from bokeh.io import show\n",
+    "from bokeh.layouts import row\n",
+    "from bokeh.models import ColumnDataSource\n",
+    "from bokeh.models import DatetimeTickFormatter\n",
+    "from bokeh.models import PrintfTickFormatter\n",
+    "import numpy as np\n",
+    "import pandas as pd\n",
+    "\n",
+    "from tracetools_analysis.loading import load_file\n",
+    "from tracetools_analysis.processor.ros2 import Ros2Handler\n",
+    "from tracetools_analysis.utils.ros2 import Ros2DataModelUtil"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# Process\n",
+    "events = load_file(path)\n",
+    "handler = Ros2Handler.process(events)\n",
+    "#handler.data.print_data()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "data_util = Ros2DataModelUtil(handler.data)\n",
+    "\n",
+    "state_intervals = data_util.get_lifecycle_node_state_intervals()\n",
+    "for handle, states in state_intervals.items():\n",
+    "    print(handle)\n",
+    "    print(states.to_string())\n",
+    "\n",
+    "output_notebook()\n",
+    "psize = 450"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# Plot\n",
+    "colors = Category10[10]\n",
+    "\n",
+    "lifecycle_node_names = {\n",
+    "    handle: data_util.get_lifecycle_node_handle_info(handle)['lifecycle node'] for handle in state_intervals.keys()\n",
+    "}\n",
+    "states_labels = []\n",
+    "start_times = []\n",
+    "\n",
+    "fig = figure(\n",
+    "    y_range=list(lifecycle_node_names.values()),\n",
+    "    title='Lifecycle states over time',\n",
+    "    y_axis_label='node',\n",
+    "    plot_width=psize*2, plot_height=psize,\n",
+    ")\n",
+    "\n",
+    "for lifecycle_node_handle, states in state_intervals.items():\n",
+    "    lifecycle_node_name = lifecycle_node_names[lifecycle_node_handle]\n",
+    "\n",
+    "    start_times.append(states['start_timestamp'].iloc[0])\n",
+    "    for index, row in states.iterrows():\n",
+    "        # TODO fix end\n",
+    "        if index == max(states.index):\n",
+    "            continue\n",
+    "        start = row['start_timestamp']\n",
+    "        end = row['end_timestamp']\n",
+    "        state = row['state']\n",
+    "        if state not in states_labels:\n",
+    "            states_labels.append(state)\n",
+    "        state_index = states_labels.index(state)\n",
+    "        fig.line(\n",
+    "            x=[start, end],\n",
+    "            y=[lifecycle_node_name]*2,\n",
+    "            line_width=10.0,\n",
+    "            line_color=colors[state_index],\n",
+    "            legend_label=state,\n",
+    "        )\n",
+    "\n",
+    "fig.title.align = 'center'\n",
+    "fig.xaxis[0].formatter = DatetimeTickFormatter(seconds=['%Ss'])\n",
+    "fig.xaxis[0].axis_label = 'time (' + min(start_times).strftime('%Y-%m-%d %H:%M') + ')'\n",
+    "show(fig)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.8.2"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}