feat: use autoware_internal_debug_msgs in processing_time_plotter.py (#…

…184) * feat: use autoware_internal_debug_msgs in processing_time_plotter.py Signed-off-by: Takayuki Murooka <[email protected]> * fix typo: argment -> argument Signed-off-by: Takayuki Murooka <[email protected]> * fix typo: LINESTYLES -> LINE_STYLES Signed-off-by: Takayuki Murooka <[email protected]> --------- Signed-off-by: Takayuki Murooka <[email protected]>
autowarefoundation · Dec 27, 2024 · ad93150 · ad93150
1 parent 5e7d3cd
commit ad93150
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Showing 4 changed files with 20 additions and 13 deletions.
diff --git a/...autoware_debug_tools/autoware_debug_tools/system_performance_plotter/cpu_usage_plotter.py b/...autoware_debug_tools/autoware_debug_tools/system_performance_plotter/cpu_usage_plotter.py
@@ -4,7 +4,7 @@
 
 from .system_performance_plotter_base import PREDEFINED_COMPONENT_NAMES
 from .system_performance_plotter_base import SystemPerformancePlotterBase
-from .system_performance_plotter_base import create_common_argment
+from .system_performance_plotter_base import create_common_argument
 
 
 class CpuUsagePlotter(SystemPerformancePlotterBase):
@@ -43,7 +43,7 @@ def update_metrics_func(self, topic_name, data, date_time):
 
 
 def main():
-    args = create_common_argment(100)
+    args = create_common_argument(100)
     plotter = CpuUsagePlotter(args, "CPU Usage [%]", "_cpu_usage")
     plotter.run()
 

diff --git a/...oware_debug_tools/autoware_debug_tools/system_performance_plotter/memory_usage_plotter.py b/...oware_debug_tools/autoware_debug_tools/system_performance_plotter/memory_usage_plotter.py
@@ -4,7 +4,7 @@
 
 from .system_performance_plotter_base import PREDEFINED_COMPONENT_NAMES
 from .system_performance_plotter_base import SystemPerformancePlotterBase
-from .system_performance_plotter_base import create_common_argment
+from .system_performance_plotter_base import create_common_argument
 
 
 class MemoryUsagePlotter(SystemPerformancePlotterBase):
@@ -43,7 +43,7 @@ def update_metrics_func(self, topic_name, data, date_time):
 
 
 def main():
-    args = create_common_argment()
+    args = create_common_argument()
     plotter = MemoryUsagePlotter(args, "Memory Usage [MiB]", "_memory_usage")
     plotter.run()
 

diff --git a/...re_debug_tools/autoware_debug_tools/system_performance_plotter/processing_time_plotter.py b/...re_debug_tools/autoware_debug_tools/system_performance_plotter/processing_time_plotter.py
@@ -1,11 +1,13 @@
 #!/usr/bin/env python3
 
-from tier4_debug_msgs.msg import Float32Stamped
-from tier4_debug_msgs.msg import Float64Stamped
+from autoware_internal_debug_msgs.msg import Float32Stamped
+from autoware_internal_debug_msgs.msg import Float64Stamped
+from tier4_debug_msgs.msg import Float32Stamped as Tier4Float32Stamped
+from tier4_debug_msgs.msg import Float64Stamped as Tier4Float64Stamped
 
 from .system_performance_plotter_base import PREDEFINED_COMPONENT_NAMES
 from .system_performance_plotter_base import SystemPerformancePlotterBase
-from .system_performance_plotter_base import create_common_argment
+from .system_performance_plotter_base import create_common_argument
 
 
 class ProcessingTimePlotter(SystemPerformancePlotterBase):
@@ -30,7 +32,12 @@ def check_topic(self, topic_name):
         return True
 
     def update_metrics_func(self, topic_name, data, date_time):
-        if not isinstance(data, Float64Stamped) and not isinstance(data, Float32Stamped):
+        if (
+            not isinstance(data, Tier4Float64Stamped)
+            and not isinstance(data, Tier4Float32Stamped)
+            and not isinstance(data, Float64Stamped)
+            and not isinstance(data, Float32Stamped)
+        ):
             return
 
         if topic_name not in self.stamp_and_metrics:
@@ -43,7 +50,7 @@ def update_metrics_func(self, topic_name, data, date_time):
 
 
 def main():
-    args = create_common_argment(100)
+    args = create_common_argument(100)
     plotter = ProcessingTimePlotter(args, "Processing Time [ms]", "_processing_time")
     plotter.run()
 

diff --git a/..._tools/autoware_debug_tools/system_performance_plotter/system_performance_plotter_base.py b/..._tools/autoware_debug_tools/system_performance_plotter/system_performance_plotter_base.py
@@ -22,8 +22,8 @@
     "control",
     "system",
 ]
-LINESTYLES = ["solid", "dashed"]
-NUM_LINESTYLES = len(LINESTYLES)
+LINE_STYLES = ["solid", "dashed"]
+NUM_LINE_STYLES = len(LINE_STYLES)
 COLORS = plt.get_cmap("tab20")
 NUM_COLORS = len(COLORS.colors)
 
@@ -118,7 +118,7 @@ def run(self):
             stamp = raw_data_arr[:, 0]
             rate = raw_data_arr[:, 1]
             color = COLORS(idx % NUM_COLORS)
-            linestyle = LINESTYLES[(idx // NUM_COLORS) % NUM_LINESTYLES]
+            linestyle = LINE_STYLES[(idx // NUM_COLORS) % NUM_LINE_STYLES]
             ax.plot(stamp, rate, label=name, color=color, linestyle=linestyle)
 
             self.report_data[name].append(np.round(rate.mean(), 3))
@@ -179,7 +179,7 @@ def run(self):
             plt.show()
 
 
-def create_common_argment(ymax=None):
+def create_common_argument(ymax=None):
     parser = argparse.ArgumentParser(description="report system performance from rosbag.")
     parser.add_argument("bag_file", help="input bagfile")
     parser.add_argument("-c", "--component-name", default="all", type=str, help="component name")