235 lines
7.1 KiB
Text
235 lines
7.1 KiB
Text
{
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"cells": [
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"# Callback duration\n",
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"#\n",
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"# Get trace data using the provided launch file:\n",
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"# $ ros2 launch tracetools_analysis pingpong.launch.py\n",
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"# (wait at least a few seconds, then kill with Ctrl+C)\n",
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"#\n",
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"# OR\n",
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"#\n",
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"# Use the provided sample converted trace file, changing the path below to:\n",
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"# 'sample_data/converted_pingpong'"
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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": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"path = '~/.ros/tracing/pingpong/ust'\n",
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"#path = 'sample_data/converted_pingpong'"
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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": null,
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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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"# Add paths to tracetools_analysis and tracetools_read.\n",
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"# There are two options:\n",
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"# 1. from source, assuming a workspace with:\n",
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"# src/tracetools_analysis/\n",
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"# src/ros2/ros2_tracing/tracetools_read/\n",
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"sys.path.insert(0, '../')\n",
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"sys.path.insert(0, '../../../ros2/ros2_tracing/tracetools_read/')\n",
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"# 2. from Debian packages, setting the right ROS 2 distro:\n",
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"#ROS_DISTRO = 'rolling'\n",
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"#sys.path.insert(0, f'/opt/ros/{ROS_DISTRO}/lib/python3.8/site-packages')\n",
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"import datetime as dt\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.loading import load_file\n",
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"from tracetools_analysis.processor.ros2 import Ros2Handler\n",
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"from tracetools_analysis.utils.ros2 import Ros2DataModelUtil"
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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": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"# Process\n",
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"events = load_file(path)\n",
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"handler = Ros2Handler.process(events)\n",
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"#handler.data.print_data()"
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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": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"data_util = Ros2DataModelUtil(handler.data)\n",
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"\n",
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"callback_symbols = data_util.get_callback_symbols()\n",
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"\n",
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"output_notebook()\n",
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"psize = 450\n",
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"colours = ['#29788E', '#DD4968', '#410967']"
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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": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"# Plot durations separately\n",
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"colour_i = 0\n",
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"for obj, symbol in callback_symbols.items():\n",
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" owner_info = data_util.get_callback_owner_info(obj)\n",
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" if owner_info is None:\n",
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" owner_info = '[unknown]'\n",
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"\n",
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" # Filter out internal subscriptions\n",
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" if '/parameter_events' in owner_info:\n",
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" continue\n",
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"\n",
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" # Duration\n",
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" duration_df = data_util.get_callback_durations(obj)\n",
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" starttime = duration_df.loc[:, 'timestamp'].iloc[0].strftime('%Y-%m-%d %H:%M')\n",
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" source = ColumnDataSource(duration_df)\n",
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" duration = figure(\n",
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" title=owner_info,\n",
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" x_axis_label=f'start ({starttime})',\n",
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" y_axis_label='duration (ms)',\n",
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" width=psize, height=psize,\n",
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" )\n",
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" duration.title.align = 'center'\n",
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" duration.line(\n",
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" x='timestamp',\n",
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" y='duration',\n",
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" legend_label=str(symbol),\n",
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" line_width=2,\n",
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" source=source,\n",
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" line_color=colours[colour_i],\n",
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" )\n",
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" duration.legend.label_text_font_size = '11px'\n",
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" duration.xaxis[0].formatter = DatetimeTickFormatter(seconds='%Ss')\n",
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"\n",
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" # Histogram\n",
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" # (convert to milliseconds)\n",
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" dur_hist, edges = np.histogram(duration_df['duration'] * 1000 / np.timedelta64(1, 's'))\n",
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" duration_hist = pd.DataFrame({\n",
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" 'duration': dur_hist, \n",
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" 'left': edges[:-1], \n",
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" 'right': edges[1:],\n",
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" })\n",
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" hist = figure(\n",
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" title='Duration histogram',\n",
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" x_axis_label='duration (ms)',\n",
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" y_axis_label='frequency',\n",
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" width=psize, height=psize,\n",
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" )\n",
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" hist.title.align = 'center'\n",
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" hist.quad(\n",
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" bottom=0,\n",
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" top=duration_hist['duration'], \n",
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" left=duration_hist['left'],\n",
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" right=duration_hist['right'],\n",
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" fill_color=colours[colour_i],\n",
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" line_color=colours[colour_i],\n",
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" )\n",
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"\n",
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" colour_i += 1\n",
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" show(row(duration, hist))"
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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": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"# Plot durations in one plot\n",
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"earliest_date = None\n",
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"for obj, symbol in callback_symbols.items():\n",
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" duration_df = data_util.get_callback_durations(obj)\n",
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" thedate = duration_df.loc[:, 'timestamp'].iloc[0]\n",
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" if earliest_date is None or thedate <= earliest_date:\n",
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" earliest_date = thedate\n",
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"\n",
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"starttime = earliest_date.strftime('%Y-%m-%d %H:%M')\n",
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"duration = figure(\n",
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" title='Callback durations',\n",
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" x_axis_label=f'start ({starttime})',\n",
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" y_axis_label='duration (ms)',\n",
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" width=psize, height=psize,\n",
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")\n",
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"\n",
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"colour_i = 0\n",
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"for obj, symbol in callback_symbols.items():\n",
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" # Filter out internal subscriptions\n",
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" owner_info = data_util.get_callback_owner_info(obj)\n",
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" if not owner_info or '/parameter_events' in owner_info:\n",
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" continue\n",
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"\n",
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" duration_df = data_util.get_callback_durations(obj)\n",
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" source = ColumnDataSource(duration_df)\n",
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" duration.title.align = 'center'\n",
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" duration.line(\n",
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" x='timestamp',\n",
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" y='duration',\n",
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" legend_label=str(symbol),\n",
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" line_width=2,\n",
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" source=source,\n",
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" line_color=colours[colour_i],\n",
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" )\n",
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" colour_i += 1\n",
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" duration.legend.label_text_font_size = '11px'\n",
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" duration.xaxis[0].formatter = DatetimeTickFormatter(seconds='%Ss')\n",
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"\n",
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"show(duration)"
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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": null,
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"metadata": {},
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"outputs": [],
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"source": []
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}
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],
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"metadata": {
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"kernelspec": {
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"display_name": "Python 3 (ipykernel)",
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"language": "python",
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"name": "python3"
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},
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"language_info": {
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"codemirror_mode": {
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"name": "ipython",
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"version": 3
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},
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"file_extension": ".py",
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"mimetype": "text/x-python",
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"name": "python",
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"nbconvert_exporter": "python",
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"pygments_lexer": "ipython3",
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"version": "3.10.6"
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}
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},
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"nbformat": 4,
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"nbformat_minor": 2
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}
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