620 lines
60 KiB
Text
620 lines
60 KiB
Text
{
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"cells": [
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{
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"cell_type": "code",
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"execution_count": 1,
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"metadata": {},
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"outputs": [],
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"source": [
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"trace_directory = '~/.ros/tracing/session-pingpong/ust'"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 2,
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"metadata": {},
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"outputs": [],
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"source": [
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"import sys\n",
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"# Assuming a workspace with:\n",
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"# src/tracetools_analysis/\n",
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"# src/micro-ROS/ros_tracing/ros2_tracing/tracetools_read/\n",
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"sys.path.insert(0, '../')\n",
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"sys.path.insert(0, '../../../micro-ROS/ros_tracing/ros2_tracing/tracetools_read/')\n",
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"import datetime as dt\n",
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"import os\n",
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"\n",
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"from bokeh.plotting import figure\n",
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"from bokeh.plotting import output_notebook\n",
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"from bokeh.io import show\n",
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"from bokeh.layouts import row\n",
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"from bokeh.models import ColumnDataSource\n",
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"from bokeh.models import DatetimeTickFormatter\n",
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"from bokeh.models import PrintfTickFormatter\n",
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"import numpy as np\n",
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"import pandas as pd\n",
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"\n",
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"from tracetools_analysis import utils\n",
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"from tracetools_analysis.conversion import ctf\n",
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"from tracetools_analysis.loading import load_pickle\n",
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"from tracetools_analysis.processor.ros2 import Ros2Handler"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 3,
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"metadata": {},
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"outputs": [
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{
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"name": "stdout",
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"output_type": "stream",
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"text": [
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"205 events\n"
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]
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}
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],
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"source": [
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"# Convert\n",
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"trace_directory = os.path.expanduser(trace_directory)\n",
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"pickle_filename = 'pickle'\n",
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"pickle_path = os.path.join(trace_directory, pickle_filename)\n",
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"count = ctf.convert(trace_directory, pickle_path)\n",
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"print(f'{count} events')\n",
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"\n",
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"# Process\n",
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"events = load_pickle(pickle_path)\n",
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"handler = Ros2Handler.process(events)\n",
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"data_model = handler.get_data_model()\n",
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"#data_model.print_model()"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 4,
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"metadata": {},
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"outputs": [
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{
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"data": {
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"text/html": [
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"\n",
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" <div class=\"bk-root\">\n",
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" <a href=\"https://bokeh.pydata.org\" target=\"_blank\" class=\"bk-logo bk-logo-small bk-logo-notebook\"></a>\n",
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" <span id=\"1001\">Loading BokehJS ...</span>\n",
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" </div>"
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]
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},
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"metadata": {},
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"output_type": "display_data"
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},
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{
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"data": {
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"application/javascript": [
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"\n",
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"(function(root) {\n",
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" function now() {\n",
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" return new Date();\n",
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" }\n",
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"\n",
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" var force = true;\n",
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"\n",
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" if (typeof root._bokeh_onload_callbacks === \"undefined\" || force === true) {\n",
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" root._bokeh_onload_callbacks = [];\n",
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" root._bokeh_is_loading = undefined;\n",
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" }\n",
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"\n",
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" var JS_MIME_TYPE = 'application/javascript';\n",
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" var HTML_MIME_TYPE = 'text/html';\n",
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" var EXEC_MIME_TYPE = 'application/vnd.bokehjs_exec.v0+json';\n",
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" var CLASS_NAME = 'output_bokeh rendered_html';\n",
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"\n",
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" /**\n",
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" * Render data to the DOM node\n",
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" */\n",
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" function render(props, node) {\n",
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" var script = document.createElement(\"script\");\n",
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" node.appendChild(script);\n",
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" }\n",
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"\n",
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" /**\n",
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" * Handle when an output is cleared or removed\n",
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" */\n",
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" function handleClearOutput(event, handle) {\n",
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" var cell = handle.cell;\n",
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"\n",
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" var id = cell.output_area._bokeh_element_id;\n",
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" var server_id = cell.output_area._bokeh_server_id;\n",
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" // Clean up Bokeh references\n",
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" if (id != null && id in Bokeh.index) {\n",
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" Bokeh.index[id].model.document.clear();\n",
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" delete Bokeh.index[id];\n",
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" }\n",
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"\n",
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" if (server_id !== undefined) {\n",
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" // Clean up Bokeh references\n",
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" var cmd = \"from bokeh.io.state import curstate; print(curstate().uuid_to_server['\" + server_id + \"'].get_sessions()[0].document.roots[0]._id)\";\n",
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" cell.notebook.kernel.execute(cmd, {\n",
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" iopub: {\n",
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" output: function(msg) {\n",
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" var id = msg.content.text.trim();\n",
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" if (id in Bokeh.index) {\n",
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" Bokeh.index[id].model.document.clear();\n",
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" delete Bokeh.index[id];\n",
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" }\n",
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" }\n",
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" }\n",
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" });\n",
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" // Destroy server and session\n",
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" var cmd = \"import bokeh.io.notebook as ion; ion.destroy_server('\" + server_id + \"')\";\n",
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" cell.notebook.kernel.execute(cmd);\n",
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" }\n",
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" }\n",
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"\n",
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" /**\n",
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" * Handle when a new output is added\n",
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" */\n",
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" function handleAddOutput(event, handle) {\n",
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" var output_area = handle.output_area;\n",
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" var output = handle.output;\n",
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"\n",
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" // limit handleAddOutput to display_data with EXEC_MIME_TYPE content only\n",
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" if ((output.output_type != \"display_data\") || (!output.data.hasOwnProperty(EXEC_MIME_TYPE))) {\n",
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" return\n",
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" }\n",
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"\n",
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" var toinsert = output_area.element.find(\".\" + CLASS_NAME.split(' ')[0]);\n",
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"\n",
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" if (output.metadata[EXEC_MIME_TYPE][\"id\"] !== undefined) {\n",
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" toinsert[toinsert.length - 1].firstChild.textContent = output.data[JS_MIME_TYPE];\n",
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" // store reference to embed id on output_area\n",
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" output_area._bokeh_element_id = output.metadata[EXEC_MIME_TYPE][\"id\"];\n",
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" }\n",
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" if (output.metadata[EXEC_MIME_TYPE][\"server_id\"] !== undefined) {\n",
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" var bk_div = document.createElement(\"div\");\n",
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" bk_div.innerHTML = output.data[HTML_MIME_TYPE];\n",
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" var script_attrs = bk_div.children[0].attributes;\n",
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" for (var i = 0; i < script_attrs.length; i++) {\n",
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" toinsert[toinsert.length - 1].firstChild.setAttribute(script_attrs[i].name, script_attrs[i].value);\n",
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" }\n",
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" // store reference to server id on output_area\n",
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" output_area._bokeh_server_id = output.metadata[EXEC_MIME_TYPE][\"server_id\"];\n",
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" }\n",
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" }\n",
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"\n",
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" function register_renderer(events, OutputArea) {\n",
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"\n",
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" function append_mime(data, metadata, element) {\n",
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" // create a DOM node to render to\n",
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" var toinsert = this.create_output_subarea(\n",
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" metadata,\n",
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" CLASS_NAME,\n",
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" EXEC_MIME_TYPE\n",
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" );\n",
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" this.keyboard_manager.register_events(toinsert);\n",
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" // Render to node\n",
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" var props = {data: data, metadata: metadata[EXEC_MIME_TYPE]};\n",
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" render(props, toinsert[toinsert.length - 1]);\n",
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" element.append(toinsert);\n",
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" return toinsert\n",
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" }\n",
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"\n",
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" /* Handle when an output is cleared or removed */\n",
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" events.on('clear_output.CodeCell', handleClearOutput);\n",
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" events.on('delete.Cell', handleClearOutput);\n",
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"\n",
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" /* Handle when a new output is added */\n",
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" events.on('output_added.OutputArea', handleAddOutput);\n",
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"\n",
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" /**\n",
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" * Register the mime type and append_mime function with output_area\n",
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" */\n",
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" OutputArea.prototype.register_mime_type(EXEC_MIME_TYPE, append_mime, {\n",
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" /* Is output safe? */\n",
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" safe: true,\n",
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" /* Index of renderer in `output_area.display_order` */\n",
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" index: 0\n",
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" });\n",
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" }\n",
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"\n",
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" // register the mime type if in Jupyter Notebook environment and previously unregistered\n",
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" if (root.Jupyter !== undefined) {\n",
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" var events = require('base/js/events');\n",
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" var OutputArea = require('notebook/js/outputarea').OutputArea;\n",
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"\n",
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" if (OutputArea.prototype.mime_types().indexOf(EXEC_MIME_TYPE) == -1) {\n",
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" register_renderer(events, OutputArea);\n",
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" }\n",
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" }\n",
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"\n",
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" \n",
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" if (typeof (root._bokeh_timeout) === \"undefined\" || force === true) {\n",
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" root._bokeh_timeout = Date.now() + 5000;\n",
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" root._bokeh_failed_load = false;\n",
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" }\n",
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"\n",
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" var NB_LOAD_WARNING = {'data': {'text/html':\n",
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" \"<div style='background-color: #fdd'>\\n\"+\n",
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" \"<p>\\n\"+\n",
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" \"BokehJS does not appear to have successfully loaded. If loading BokehJS from CDN, this \\n\"+\n",
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" \"may be due to a slow or bad network connection. Possible fixes:\\n\"+\n",
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" \"</p>\\n\"+\n",
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" \"<ul>\\n\"+\n",
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" \"<li>re-rerun `output_notebook()` to attempt to load from CDN again, or</li>\\n\"+\n",
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" \"<li>use INLINE resources instead, as so:</li>\\n\"+\n",
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" \"</ul>\\n\"+\n",
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" \"<code>\\n\"+\n",
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" \"from bokeh.resources import INLINE\\n\"+\n",
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" \"output_notebook(resources=INLINE)\\n\"+\n",
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" \"</code>\\n\"+\n",
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" \"</div>\"}};\n",
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"\n",
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" function display_loaded() {\n",
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" var el = document.getElementById(\"1001\");\n",
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" if (el != null) {\n",
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" el.textContent = \"BokehJS is loading...\";\n",
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" }\n",
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" if (root.Bokeh !== undefined) {\n",
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" if (el != null) {\n",
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" el.textContent = \"BokehJS \" + root.Bokeh.version + \" successfully loaded.\";\n",
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" }\n",
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" } else if (Date.now() < root._bokeh_timeout) {\n",
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" setTimeout(display_loaded, 100)\n",
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" }\n",
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" }\n",
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"\n",
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"\n",
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" function run_callbacks() {\n",
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" try {\n",
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" root._bokeh_onload_callbacks.forEach(function(callback) {\n",
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" if (callback != null)\n",
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" callback();\n",
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" });\n",
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" } finally {\n",
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" delete root._bokeh_onload_callbacks\n",
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" }\n",
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" console.debug(\"Bokeh: all callbacks have finished\");\n",
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" }\n",
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"\n",
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" function load_libs(css_urls, js_urls, callback) {\n",
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" if (css_urls == null) css_urls = [];\n",
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" if (js_urls == null) js_urls = [];\n",
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"\n",
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" root._bokeh_onload_callbacks.push(callback);\n",
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" if (root._bokeh_is_loading > 0) {\n",
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" console.debug(\"Bokeh: BokehJS is being loaded, scheduling callback at\", now());\n",
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" return null;\n",
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" }\n",
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" if (js_urls == null || js_urls.length === 0) {\n",
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" run_callbacks();\n",
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" return null;\n",
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" }\n",
|
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" console.debug(\"Bokeh: BokehJS not loaded, scheduling load and callback at\", now());\n",
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" root._bokeh_is_loading = css_urls.length + js_urls.length;\n",
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"\n",
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" function on_load() {\n",
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" root._bokeh_is_loading--;\n",
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" if (root._bokeh_is_loading === 0) {\n",
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" console.debug(\"Bokeh: all BokehJS libraries/stylesheets loaded\");\n",
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" run_callbacks()\n",
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" }\n",
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" }\n",
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"\n",
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" function on_error() {\n",
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" console.error(\"failed to load \" + url);\n",
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" }\n",
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"\n",
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" for (var i = 0; i < css_urls.length; i++) {\n",
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" var url = css_urls[i];\n",
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" const element = document.createElement(\"link\");\n",
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" element.onload = on_load;\n",
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" element.onerror = on_error;\n",
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" element.rel = \"stylesheet\";\n",
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" element.type = \"text/css\";\n",
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" element.href = url;\n",
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" console.debug(\"Bokeh: injecting link tag for BokehJS stylesheet: \", url);\n",
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" document.body.appendChild(element);\n",
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" }\n",
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"\n",
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" for (var i = 0; i < js_urls.length; i++) {\n",
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" var url = js_urls[i];\n",
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" var element = document.createElement('script');\n",
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" element.onload = on_load;\n",
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" element.onerror = on_error;\n",
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" element.async = false;\n",
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" element.src = url;\n",
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" console.debug(\"Bokeh: injecting script tag for BokehJS library: \", url);\n",
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" document.head.appendChild(element);\n",
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" }\n",
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" };var element = document.getElementById(\"1001\");\n",
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" if (element == null) {\n",
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" console.error(\"Bokeh: ERROR: autoload.js configured with elementid '1001' but no matching script tag was found. \")\n",
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" return false;\n",
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" }\n",
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"\n",
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" function inject_raw_css(css) {\n",
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" const element = document.createElement(\"style\");\n",
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" element.appendChild(document.createTextNode(css));\n",
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" document.body.appendChild(element);\n",
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" }\n",
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"\n",
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" var js_urls = [\"https://cdn.pydata.org/bokeh/release/bokeh-1.2.0.min.js\", \"https://cdn.pydata.org/bokeh/release/bokeh-widgets-1.2.0.min.js\", \"https://cdn.pydata.org/bokeh/release/bokeh-tables-1.2.0.min.js\", \"https://cdn.pydata.org/bokeh/release/bokeh-gl-1.2.0.min.js\"];\n",
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" var css_urls = [\"https://cdn.pydata.org/bokeh/release/bokeh-1.2.0.min.css\", \"https://cdn.pydata.org/bokeh/release/bokeh-widgets-1.2.0.min.css\", \"https://cdn.pydata.org/bokeh/release/bokeh-tables-1.2.0.min.css\"];\n",
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"\n",
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" var inline_js = [\n",
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" function(Bokeh) {\n",
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" Bokeh.set_log_level(\"info\");\n",
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" },\n",
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" \n",
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" function(Bokeh) {\n",
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" \n",
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" },\n",
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" function(Bokeh) {} // ensure no trailing comma for IE\n",
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" ];\n",
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"\n",
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" function run_inline_js() {\n",
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" \n",
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" if ((root.Bokeh !== undefined) || (force === true)) {\n",
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" for (var i = 0; i < inline_js.length; i++) {\n",
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" inline_js[i].call(root, root.Bokeh);\n",
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" }if (force === true) {\n",
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" display_loaded();\n",
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" }} else if (Date.now() < root._bokeh_timeout) {\n",
|
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" setTimeout(run_inline_js, 100);\n",
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" } else if (!root._bokeh_failed_load) {\n",
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" console.log(\"Bokeh: BokehJS failed to load within specified timeout.\");\n",
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" root._bokeh_failed_load = true;\n",
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" } else if (force !== true) {\n",
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" var cell = $(document.getElementById(\"1001\")).parents('.cell').data().cell;\n",
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" cell.output_area.append_execute_result(NB_LOAD_WARNING)\n",
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" }\n",
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"\n",
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" }\n",
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"\n",
|
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" if (root._bokeh_is_loading === 0) {\n",
|
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" console.debug(\"Bokeh: BokehJS loaded, going straight to plotting\");\n",
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" run_inline_js();\n",
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" } else {\n",
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" load_libs(css_urls, js_urls, function() {\n",
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" console.debug(\"Bokeh: BokehJS plotting callback run at\", now());\n",
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" run_inline_js();\n",
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" });\n",
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" }\n",
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"}(window));"
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],
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"application/vnd.bokehjs_load.v0+json": "\n(function(root) {\n function now() {\n return new Date();\n }\n\n var force = true;\n\n if (typeof root._bokeh_onload_callbacks === \"undefined\" || force === true) {\n root._bokeh_onload_callbacks = [];\n root._bokeh_is_loading = undefined;\n }\n\n \n\n \n if (typeof (root._bokeh_timeout) === \"undefined\" || force === true) {\n root._bokeh_timeout = Date.now() + 5000;\n root._bokeh_failed_load = false;\n }\n\n var NB_LOAD_WARNING = {'data': {'text/html':\n \"<div style='background-color: #fdd'>\\n\"+\n \"<p>\\n\"+\n \"BokehJS does not appear to have successfully loaded. If loading BokehJS from CDN, this \\n\"+\n \"may be due to a slow or bad network connection. Possible fixes:\\n\"+\n \"</p>\\n\"+\n \"<ul>\\n\"+\n \"<li>re-rerun `output_notebook()` to attempt to load from CDN again, or</li>\\n\"+\n \"<li>use INLINE resources instead, as so:</li>\\n\"+\n \"</ul>\\n\"+\n \"<code>\\n\"+\n \"from bokeh.resources import INLINE\\n\"+\n \"output_notebook(resources=INLINE)\\n\"+\n \"</code>\\n\"+\n \"</div>\"}};\n\n function display_loaded() {\n var el = document.getElementById(\"1001\");\n if (el != null) {\n el.textContent = \"BokehJS is loading...\";\n }\n if (root.Bokeh !== undefined) {\n if (el != null) {\n el.textContent = \"BokehJS \" + root.Bokeh.version + \" successfully loaded.\";\n }\n } else if (Date.now() < root._bokeh_timeout) {\n setTimeout(display_loaded, 100)\n }\n }\n\n\n function run_callbacks() {\n try {\n root._bokeh_onload_callbacks.forEach(function(callback) {\n if (callback != null)\n callback();\n });\n } finally {\n delete root._bokeh_onload_callbacks\n }\n console.debug(\"Bokeh: all callbacks have finished\");\n }\n\n function load_libs(css_urls, js_urls, callback) {\n if (css_urls == null) css_urls = [];\n if (js_urls == null) js_urls = [];\n\n root._bokeh_onload_callbacks.push(callback);\n if (root._bokeh_is_loading > 0) {\n console.debug(\"Bokeh: BokehJS is being loaded, scheduling callback at\", now());\n return null;\n }\n if (js_urls == null || js_urls.length === 0) {\n run_callbacks();\n return null;\n }\n console.debug(\"Bokeh: BokehJS not loaded, scheduling load and callback at\", now());\n root._bokeh_is_loading = css_urls.length + js_urls.length;\n\n function on_load() {\n root._bokeh_is_loading--;\n if (root._bokeh_is_loading === 0) {\n console.debug(\"Bokeh: all BokehJS libraries/stylesheets loaded\");\n run_callbacks()\n }\n }\n\n function on_error() {\n console.error(\"failed to load \" + url);\n }\n\n for (var i = 0; i < css_urls.length; i++) {\n var url = css_urls[i];\n const element = document.createElement(\"link\");\n element.onload = on_load;\n element.onerror = on_error;\n element.rel = \"stylesheet\";\n element.type = \"text/css\";\n element.href = url;\n console.debug(\"Bokeh: injecting link tag for BokehJS stylesheet: \", url);\n document.body.appendChild(element);\n }\n\n for (var i = 0; i < js_urls.length; i++) {\n var url = js_urls[i];\n var element = document.createElement('script');\n element.onload = on_load;\n element.onerror = on_error;\n element.async = false;\n element.src = url;\n console.debug(\"Bokeh: injecting script tag for BokehJS library: \", url);\n document.head.appendChild(element);\n }\n };var element = document.getElementById(\"1001\");\n if (element == null) {\n console.error(\"Bokeh: ERROR: autoload.js configured with elementid '1001' but no matching script tag was found. \")\n return false;\n }\n\n function inject_raw_css(css) {\n const element = document.createElement(\"style\");\n element.appendChild(document.createTextNode(css));\n document.body.appendChild(element);\n }\n\n var js_urls = [\"https://cdn.pydata.org/bokeh/release/bokeh-1.2.0.min.js\", \"https://cdn.pydata.org/bokeh/release/bokeh-widgets-1.2.0.min.js\", \"https://cdn.pydata.org/bokeh/release/bokeh-tables-1.2.0.min.js\", \"https://cdn.pydata.org/bokeh/release/bokeh-gl-1.2.0.min.js\"];\n var css_urls = [\"https://cdn.pydata.org/bokeh/release/bokeh-1.2.0.min.css\", \"https://cdn.pydata.org/bokeh/release/bokeh-widgets-1.2.0.min.css\", \"https://cdn.pydata.org/bokeh/release/bokeh-tables-1.2.0.min.css\"];\n\n var inline_js = [\n function(Bokeh) {\n Bokeh.set_log_level(\"info\");\n },\n \n function(Bokeh) {\n \n },\n function(Bokeh) {} // ensure no trailing comma for IE\n ];\n\n function run_inline_js() {\n \n if ((root.Bokeh !== undefined) || (force === true)) {\n for (var i = 0; i < inline_js.length; i++) {\n inline_js[i].call(root, root.Bokeh);\n }if (force === true) {\n display_loaded();\n }} else if (Date.now() < root._bokeh_timeout) {\n setTimeout(run_inline_js, 100);\n } else if (!root._bokeh_failed_load) {\n console.log(\"Bokeh: BokehJS failed to load within specified timeout.\");\n root._bokeh_failed_load = true;\n } else if (force !== true) {\n var cell = $(document.getElementById(\"1001\")).parents('.cell').data().cell;\n cell.output_area.append_execute_result(NB_LOAD_WARNING)\n }\n\n }\n\n if (root._bokeh_is_loading === 0) {\n console.debug(\"Bokeh: BokehJS loaded, going straight to plotting\");\n run_inline_js();\n } else {\n load_libs(css_urls, js_urls, function() {\n console.debug(\"Bokeh: BokehJS plotting callback run at\", now());\n run_inline_js();\n });\n }\n}(window));"
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(2019-07-29 14:28)\",\"formatter\":{\"id\":\"1050\",\"type\":\"DatetimeTickFormatter\"},\"ticker\":{\"id\":\"1015\",\"type\":\"BasicTicker\"}},\"id\":\"1014\",\"type\":\"LinearAxis\"},{\"attributes\":{},\"id\":\"1027\",\"type\":\"SaveTool\"},{\"attributes\":{\"source\":{\"id\":\"1086\",\"type\":\"ColumnDataSource\"}},\"id\":\"1090\",\"type\":\"CDSView\"},{\"attributes\":{},\"id\":\"1059\",\"type\":\"LinearScale\"},{\"attributes\":{},\"id\":\"1076\",\"type\":\"SaveTool\"},{\"attributes\":{},\"id\":\"1028\",\"type\":\"ResetTool\"},{\"attributes\":{},\"id\":\"1061\",\"type\":\"LinearScale\"},{\"attributes\":{\"callback\":null},\"id\":\"1008\",\"type\":\"DataRange1d\"},{\"attributes\":{},\"id\":\"1029\",\"type\":\"HelpTool\"},{\"attributes\":{\"axis_label\":\"duration 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" var render_items = [{\"docid\":\"c7ae800f-81b5-4476-8afb-3c38642ee25f\",\"roots\":{\"1091\":\"ca11cde5-07ae-40c4-883c-9350bd75cb1b\"}}];\n",
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" root.Bokeh.embed.embed_items_notebook(docs_json, render_items);\n",
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"\n",
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" }\n",
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" if (root.Bokeh !== undefined) {\n",
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" embed_document(root);\n",
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" } else {\n",
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" var attempts = 0;\n",
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" var timer = setInterval(function(root) {\n",
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" if (root.Bokeh !== undefined) {\n",
|
|
" embed_document(root);\n",
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" clearInterval(timer);\n",
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" }\n",
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" attempts++;\n",
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" if (attempts > 100) {\n",
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" console.log(\"Bokeh: ERROR: Unable to run BokehJS code because BokehJS library is missing\");\n",
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" clearInterval(timer);\n",
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" }\n",
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" }, 10, root)\n",
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" }\n",
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"})(window);"
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" var render_items = [{\"docid\":\"7d90c868-74c7-4f43-9212-d3193af60a9f\",\"roots\":{\"1286\":\"58bf1170-237b-478d-ba08-5f7a540c5ef4\"}}];\n",
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" var docs_json = {\"21be86d1-89a9-4b8d-bb1e-9b11bf47a694\":{\"roots\":{\"references\":[{\"attributes\":{\"children\":[{\"id\":\"1408\",\"subtype\":\"Figure\",\"type\":\"Plot\"},{\"id\":\"1457\",\"subtype\":\"Figure\",\"type\":\"Plot\"}]},\"id\":\"1496\",\"type\":\"Row\"},{\"attributes\":{\"axis_label\":\"duration (ms)\",\"formatter\":{\"id\":\"1449\",\"type\":\"BasicTickFormatter\"},\"ticker\":{\"id\":\"1425\",\"type\":\"BasicTicker\"}},\"id\":\"1424\",\"type\":\"LinearAxis\"},{\"attributes\":{\"data_source\":{\"id\":\"1491\",\"type\":\"ColumnDataSource\"},\"glyph\":{\"id\":\"1492\",\"type\":\"Quad\"},\"hover_glyph\":null,\"muted_glyph\":null,\"nonselection_glyph\":{\"id\":\"1493\",\"type\":\"Quad\"},\"selection_glyph\":null,\"view\":{\"id\":\"1495\",\"type\":\"CDSView\"}},\"id\":\"1494\",\"type\":\"GlyphRenderer\"},{\"attributes\":{\"label\":{\"value\":\"void 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histogram\"},\"id\":\"1458\",\"type\":\"Title\"},{\"attributes\":{},\"id\":\"1429\",\"type\":\"PanTool\"},{\"attributes\":{},\"id\":\"1537\",\"type\":\"UnionRenderers\"},{\"attributes\":{\"below\":[{\"id\":\"1419\",\"type\":\"LinearAxis\"}],\"center\":[{\"id\":\"1423\",\"type\":\"Grid\"},{\"id\":\"1428\",\"type\":\"Grid\"},{\"id\":\"1453\",\"type\":\"Legend\"}],\"left\":[{\"id\":\"1424\",\"type\":\"LinearAxis\"}],\"plot_height\":450,\"plot_width\":450,\"renderers\":[{\"id\":\"1445\",\"type\":\"GlyphRenderer\"}],\"title\":{\"id\":\"1409\",\"type\":\"Title\"},\"toolbar\":{\"id\":\"1435\",\"type\":\"Toolbar\"},\"x_range\":{\"id\":\"1411\",\"type\":\"DataRange1d\"},\"x_scale\":{\"id\":\"1415\",\"type\":\"LinearScale\"},\"y_range\":{\"id\":\"1413\",\"type\":\"DataRange1d\"},\"y_scale\":{\"id\":\"1417\",\"type\":\"LinearScale\"}},\"id\":\"1408\",\"subtype\":\"Figure\",\"type\":\"Plot\"},{\"attributes\":{\"callback\":null},\"id\":\"1460\",\"type\":\"DataRange1d\"},{\"attributes\":{},\"id\":\"1430\",\"type\":\"WheelZoomTool\"},{\"attributes\":{},\"id\":\"1538\",\"type\":\"Selection\"},{\"attributes\":{\"callback\":null},\"id\":\"1462\",\"type\":\"DataRange1d\"},{\"attributes\":{\"dimension\":1,\"ticker\":{\"id\":\"1474\",\"type\":\"BasicTicker\"}},\"id\":\"1477\",\"type\":\"Grid\"},{\"attributes\":{\"overlay\":{\"id\":\"1452\",\"type\":\"BoxAnnotation\"}},\"id\":\"1431\",\"type\":\"BoxZoomTool\"},{\"attributes\":{\"callback\":null},\"id\":\"1411\",\"type\":\"DataRange1d\"},{\"attributes\":{\"bottom_units\":\"screen\",\"fill_alpha\":{\"value\":0.5},\"fill_color\":{\"value\":\"lightgrey\"},\"left_units\":\"screen\",\"level\":\"overlay\",\"line_alpha\":{\"value\":1.0},\"line_color\":{\"value\":\"black\"},\"line_dash\":[4,4],\"line_width\":{\"value\":2},\"render_mode\":\"css\",\"right_units\":\"screen\",\"top_units\":\"screen\"},\"id\":\"1539\",\"type\":\"BoxAnnotation\"},{\"attributes\":{},\"id\":\"1464\",\"type\":\"LinearScale\"},{\"attributes\":{},\"id\":\"1432\",\"type\":\"SaveTool\"},{\"attributes\":{\"callback\":null,\"data\":{\"left\":{\"__ndarray__\":\"MJxrmKHxpD/RBru8lBWuP7k4hfDDnLM/Cu6sgr0uuD9ao9QUt8C8P1UsflNYqcA//gaSHFXywj+m4aXlUTvFP068ua5OhMc/9pbNd0vNyT8=\",\"dtype\":\"float64\",\"shape\":[10]},\"right\":{\"__ndarray__\":\"0Qa7vJQVrj+5OIXww5yzPwrurIK9Lrg/WqPUFLfAvD9VLH5TWKnAP/4GkhxV8sI/puGl5VE7xT9OvLmuToTHP/aWzXdLzck/n3HhQEgWzD8=\",\"dtype\":\"float64\",\"shape\":[10]},\"top\":[2,0,5,12,3,0,0,1,0,1]},\"selected\":{\"id\":\"1541\",\"type\":\"Selection\"},\"selection_policy\":{\"id\":\"1540\",\"type\":\"UnionRenderers\"}},\"id\":\"1491\",\"type\":\"ColumnDataSource\"},{\"attributes\":{},\"id\":\"1540\",\"type\":\"UnionRenderers\"},{\"attributes\":{},\"id\":\"1466\",\"type\":\"LinearScale\"},{\"attributes\":{},\"id\":\"1433\",\"type\":\"ResetTool\"},{\"attributes\":{\"callback\":null,\"data\":{\"duration\":{\"__ndarray__\":\"n3HhQEgWzD/PSlrxDYW7PwHcLF4sDLk/C19f61IjuD/saYe/Jmu4P4at2cpL/qc/8UdRZ+4hxz+3skRnmUXAPzCca5ih8aQ/YMsr19tmuj+31awzvi+6P1BVoYFYNrc/TtTS3AphuT/nVZ3VAnu4P3i5iO/ErLc/sRcK2A5GuD++UMB2MGK3P3bexmZHqrc/1PAtrBvvvj9Z+zvboze4P3tNDwpK0bo/0hxZ+WUwvj/c1avI6IC8P0wao3VUNbk/\",\"dtype\":\"float64\",\"shape\":[24]},\"index\":[1,4,7,10,13,16,19,22,25,28,31,34,37,40,43,46,49,52,55,58,61,64,67,70],\"timestamp\":{\"__ndarray__\":\"rNokHOLDdkLsF0Qc4sN2Qv5YYxziw3ZCUJmCHOLDdkJx2aEc4sN2QmYWwRziw3ZCz13gHOLDdkKPmv8c4sN2QifXHh3iw3ZCXBs+HeLDdkI3W10d4sN2QpqbfB3iw3ZCAt2bHeLDdkJCHLsd4sN2Qt1c2h3iw3ZCuJz5HeLDdkI/3Rge4sN2QtsdOB7iw3ZCSl5XHuLDdkIQnnYe4sN2QlbelR7iw3ZCNx+1HuLDdkLyXtQe4sN2QuOf8x7iw3ZC\",\"dtype\":\"float64\",\"shape\":[24]}},\"selected\":{\"id\":\"1538\",\"type\":\"Selection\"},\"selection_policy\":{\"id\":\"1537\",\"type\":\"UnionRenderers\"}},\"id\":\"1407\",\"type\":\"ColumnDataSource\"},{\"attributes\":{},\"id\":\"1541\",\"type\":\"Selection\"},{\"attributes\":{\"axis_label\":\"duration (ms)\",\"formatter\":{\"id\":\"1535\",\"type\":\"BasicTickFormatter\"},\"ticker\":{\"id\":\"1469\",\"type\":\"BasicTicker\"}},\"id\":\"1468\",\"type\":\"LinearAxis\"},{\"attributes\":{},\"id\":\"1434\",\"type\":\"HelpTool\"},{\"attributes\":{},\"id\":\"1469\",\"type\":\"BasicTicker\"},{\"attributes\":{},\"id\":\"1415\",\"type\":\"LinearScale\"},{\"attributes\":{\"ticker\":{\"id\":\"1469\",\"type\":\"BasicTicker\"}},\"id\":\"1472\",\"type\":\"Grid\"},{\"attributes\":{\"data_source\":{\"id\":\"1407\",\"type\":\"ColumnDataSource\"},\"glyph\":{\"id\":\"1443\",\"type\":\"Line\"},\"hover_glyph\":null,\"muted_glyph\":null,\"nonselection_glyph\":{\"id\":\"1444\",\"type\":\"Line\"},\"selection_glyph\":null,\"view\":{\"id\":\"1446\",\"type\":\"CDSView\"}},\"id\":\"1445\",\"type\":\"GlyphRenderer\"},{\"attributes\":{\"axis_label\":\"frequency\",\"formatter\":{\"id\":\"1533\",\"type\":\"BasicTickFormatter\"},\"ticker\":{\"id\":\"1474\",\"type\":\"BasicTicker\"}},\"id\":\"1473\",\"type\":\"LinearAxis\"},{\"attributes\":{\"source\":{\"id\":\"1407\",\"type\":\"ColumnDataSource\"}},\"id\":\"1446\",\"type\":\"CDSView\"},{\"attributes\":{\"callback\":null},\"id\":\"1413\",\"type\":\"DataRange1d\"},{\"attributes\":{\"bottom_units\":\"screen\",\"fill_alpha\":{\"value\":0.5},\"fill_color\":{\"value\":\"lightgrey\"},\"left_units\":\"screen\",\"level\":\"overlay\",\"line_alpha\":{\"value\":1.0},\"line_color\":{\"value\":\"black\"},\"line_dash\":[4,4],\"line_width\":{\"value\":2},\"render_mode\":\"css\",\"right_units\":\"screen\",\"top_units\":\"screen\"},\"id\":\"1452\",\"type\":\"BoxAnnotation\"},{\"attributes\":{},\"id\":\"1482\",\"type\":\"ResetTool\"},{\"attributes\":{},\"id\":\"1474\",\"type\":\"BasicTicker\"},{\"attributes\":{\"ticker\":{\"id\":\"1420\",\"type\":\"BasicTicker\"}},\"id\":\"1423\",\"type\":\"Grid\"},{\"attributes\":{},\"id\":\"1449\",\"type\":\"BasicTickFormatter\"},{\"attributes\":{\"axis_label\":\"start (2019-07-29 14:28)\",\"formatter\":{\"id\":\"1455\",\"type\":\"DatetimeTickFormatter\"},\"ticker\":{\"id\":\"1420\",\"type\":\"BasicTicker\"}},\"id\":\"1419\",\"type\":\"LinearAxis\"},{\"attributes\":{\"align\":\"center\",\"text\":\"Subscription -- node: test_pong, tid: 24725, topic: /ping\"},\"id\":\"1409\",\"type\":\"Title\"},{\"attributes\":{\"active_drag\":\"auto\",\"active_inspect\":\"auto\",\"active_multi\":null,\"active_scroll\":\"auto\",\"active_tap\":\"auto\",\"tools\":[{\"id\":\"1478\",\"type\":\"PanTool\"},{\"id\":\"1479\",\"type\":\"WheelZoomTool\"},{\"id\":\"1480\",\"type\":\"BoxZoomTool\"},{\"id\":\"1481\",\"type\":\"SaveTool\"},{\"id\":\"1482\",\"type\":\"ResetTool\"},{\"id\":\"1483\",\"type\":\"HelpTool\"}]},\"id\":\"1484\",\"type\":\"Toolbar\"},{\"attributes\":{},\"id\":\"1479\",\"type\":\"WheelZoomTool\"},{\"attributes\":{},\"id\":\"1483\",\"type\":\"HelpTool\"},{\"attributes\":{\"bottom\":{\"value\":0},\"fill_alpha\":{\"value\":0.1},\"fill_color\":{\"value\":\"#1f77b4\"},\"left\":{\"field\":\"left\"},\"line_alpha\":{\"value\":0.1},\"line_color\":{\"value\":\"#1f77b4\"},\"right\":{\"field\":\"right\"},\"top\":{\"field\":\"top\"}},\"id\":\"1493\",\"type\":\"Quad\"},{\"attributes\":{},\"id\":\"1420\",\"type\":\"BasicTicker\"},{\"attributes\":{},\"id\":\"1417\",\"type\":\"LinearScale\"},{\"attributes\":{\"items\":[{\"id\":\"1454\",\"type\":\"LegendItem\"}],\"label_text_font_size\":{\"value\":\"11px\"}},\"id\":\"1453\",\"type\":\"Legend\"}],\"root_ids\":[\"1496\"]},\"title\":\"Bokeh Application\",\"version\":\"1.2.0\"}};\n",
|
|
" var render_items = [{\"docid\":\"21be86d1-89a9-4b8d-bb1e-9b11bf47a694\",\"roots\":{\"1496\":\"a9797d09-bd8d-4d49-957f-a6c8277a549f\"}}];\n",
|
|
" root.Bokeh.embed.embed_items_notebook(docs_json, render_items);\n",
|
|
"\n",
|
|
" }\n",
|
|
" if (root.Bokeh !== undefined) {\n",
|
|
" embed_document(root);\n",
|
|
" } else {\n",
|
|
" var attempts = 0;\n",
|
|
" var timer = setInterval(function(root) {\n",
|
|
" if (root.Bokeh !== undefined) {\n",
|
|
" embed_document(root);\n",
|
|
" clearInterval(timer);\n",
|
|
" }\n",
|
|
" attempts++;\n",
|
|
" if (attempts > 100) {\n",
|
|
" console.log(\"Bokeh: ERROR: Unable to run BokehJS code because BokehJS library is missing\");\n",
|
|
" clearInterval(timer);\n",
|
|
" }\n",
|
|
" }, 10, root)\n",
|
|
" }\n",
|
|
"})(window);"
|
|
],
|
|
"application/vnd.bokehjs_exec.v0+json": ""
|
|
},
|
|
"metadata": {
|
|
"application/vnd.bokehjs_exec.v0+json": {
|
|
"id": "1496"
|
|
}
|
|
},
|
|
"output_type": "display_data"
|
|
}
|
|
],
|
|
"source": [
|
|
"data_util = utils.RosDataModelUtil(data_model)\n",
|
|
"\n",
|
|
"callback_symbols = data_util.get_callback_symbols()\n",
|
|
"\n",
|
|
"output_notebook()\n",
|
|
"psize = 450\n",
|
|
"\n",
|
|
"# Plot durations\n",
|
|
"for obj, symbol in callback_symbols.items():\n",
|
|
" owner_info = data_util.get_callback_owner_info(obj)\n",
|
|
" if owner_info is None:\n",
|
|
" owner_info = '[unknown]'\n",
|
|
"\n",
|
|
" # Duration\n",
|
|
" duration_df = data_util.get_callback_durations(obj)\n",
|
|
" starttime = duration_df.loc[:, 'timestamp'].iloc[0].strftime('%Y-%m-%d %H:%M')\n",
|
|
" source = ColumnDataSource(duration_df)\n",
|
|
" duration = figure(title=owner_info,\n",
|
|
" x_axis_label=f'start ({starttime})',\n",
|
|
" y_axis_label='duration (ms)',\n",
|
|
" plot_width=psize, plot_height=psize)\n",
|
|
" duration.title.align = 'center'\n",
|
|
" duration.line(x='timestamp', y='duration', legend=str(symbol), line_width=2, source=source)\n",
|
|
" duration.legend.label_text_font_size = '11px'\n",
|
|
" duration.xaxis[0].formatter = DatetimeTickFormatter(seconds=['%Ss'])\n",
|
|
"\n",
|
|
" # Histogram\n",
|
|
" dur_hist, edges = np.histogram(duration_df['duration'])\n",
|
|
" duration_hist = pd.DataFrame({'duration': dur_hist, \n",
|
|
" 'left': edges[:-1], \n",
|
|
" 'right': edges[1:]})\n",
|
|
" hist = figure(title='Duration histogram',\n",
|
|
" x_axis_label='duration (ms)',\n",
|
|
" y_axis_label='frequency',\n",
|
|
" plot_width=psize, plot_height=psize)\n",
|
|
" hist.title.align = 'center'\n",
|
|
" hist.quad(bottom=0, top=duration_hist['duration'], \n",
|
|
" left=duration_hist['left'], right=duration_hist['right'])\n",
|
|
"\n",
|
|
" show(row(duration, hist))"
|
|
]
|
|
},
|
|
{
|
|
"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": "3.6.8"
|
|
}
|
|
},
|
|
"nbformat": 4,
|
|
"nbformat_minor": 2
|
|
}
|