Add userspace memory usage analysis

tracetools_analysis/analysis/memory_usage.ipynb

@@ -0,0 +1,158 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# Memory usage\n",
+    "#\n",
+    "# Get trace data using the provided launch file:\n",
+    "#    $ ros2 launch tracetools_analysis memory_usage.launch.py\n",
+    "#    (wait a few seconds, then kill with Ctrl+C)\n",
+    "# AND\n",
+    "# Convert trace data:\n",
+    "#    $ ros2 trace-analysis convert ~/.ros/tracing/memory-usage/ust"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "converted_file_path = '~/.ros/tracing/memory-usage/ust/converted'"
+   ]
+  },
+  {
+   "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 viridis\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 NumeralTickFormatter\n",
+    "import numpy as np\n",
+    "import pandas as pd\n",
+    "\n",
+    "from tracetools_analysis.loading import load_file\n",
+    "from tracetools_analysis.processor import Processor\n",
+    "from tracetools_analysis.processor.memory_usage import MemoryUsageHandler\n",
+    "from tracetools_analysis.processor.ros2 import Ros2Handler\n",
+    "from tracetools_analysis.utils.memory_usage import MemoryUsageDataModelUtil\n",
+    "from tracetools_analysis.utils.ros2 import Ros2DataModelUtil"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# Process\n",
+    "events = load_file(converted_file_path)\n",
+    "memory_handler = MemoryUsageHandler()\n",
+    "ros2_handler = Ros2Handler()\n",
+    "Processor(memory_handler, ros2_handler).process(events)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "memory_data_util = MemoryUsageDataModelUtil(memory_handler.data)\n",
+    "ros2_data_util = Ros2DataModelUtil(ros2_handler.data)\n",
+    "\n",
+    "output_notebook()\n",
+    "psize = 650"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# Plot memory usage\n",
+    "memory_usage_dfs = memory_data_util.get_absolute_memory_usage_by_tid()\n",
+    "tids = ros2_data_util.get_tids()\n",
+    "\n",
+    "colours = viridis(len(tids) + 1)\n",
+    "first_tid = min(tids)\n",
+    "starttime = memory_usage_dfs[first_tid].loc[:, 'timestamp'].iloc[0].strftime('%Y-%m-%d %H:%M')\n",
+    "memory = figure(\n",
+    "    title='Userspace memory usage per thread/node',\n",
+    "    x_axis_label=f'time ({starttime})',\n",
+    "    y_axis_label='memory usage',\n",
+    "    plot_width=psize, plot_height=psize,\n",
+    ")\n",
+    "\n",
+    "i_colour = 0\n",
+    "for tid, memory_usage_df in memory_usage_dfs.items():\n",
+    "    if tid not in tids:\n",
+    "        continue\n",
+    "    memory.line(\n",
+    "        x='timestamp',\n",
+    "        y='memory_usage',\n",
+    "        legend=str(tid) + ' ' + str(ros2_data_util.get_node_names_from_tid(tid)),\n",
+    "        line_width=2,\n",
+    "        source=ColumnDataSource(memory_usage_df),\n",
+    "        line_color=colours[i_colour],\n",
+    "    )\n",
+    "    i_colour += 1\n",
+    "\n",
+    "memory.title.align = 'center'\n",
+    "memory.legend.label_text_font_size = '11px'\n",
+    "memory.xaxis[0].formatter = DatetimeTickFormatter(seconds=['%Ss'])\n",
+    "memory.yaxis[0].formatter = NumeralTickFormatter(format='0.0b')\n",
+    "\n",
+    "show(memory)"
+   ]
+  },
+  {
+   "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": "3.6.9"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}