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feat: use autoware_internal_debug_msgs in processing_time_plotter.py #184

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merged 3 commits into from
Dec 27, 2024
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feat: use autoware_internal_debug_msgs in processing_time_plotter.py #184

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c0e1943
feat: use autoware_internal_debug_msgs in processing_time_plotter.py
takayuki5168 Dec 27, 2024
33d330c
fix typo: argment -> argument
takayuki5168 Dec 27, 2024
a422921
fix typo: LINESTYLES -> LINE_STYLES
takayuki5168 Dec 27, 2024
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4 changes: 2 additions & 2 deletions ...autoware_debug_tools/autoware_debug_tools/system_performance_plotter/cpu_usage_plotter.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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):
Expand Down Expand Up @@ -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()

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4 changes: 2 additions & 2 deletions ...oware_debug_tools/autoware_debug_tools/system_performance_plotter/memory_usage_plotter.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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):
Expand Down Expand Up @@ -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()

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17 changes: 12 additions & 5 deletions ...re_debug_tools/autoware_debug_tools/system_performance_plotter/processing_time_plotter.py
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Original file line number Diff line number Diff line change
@@ -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):
Expand All @@ -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:
Expand All @@ -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()

Expand Down
8 changes: 4 additions & 4 deletions ..._tools/autoware_debug_tools/system_performance_plotter/system_performance_plotter_base.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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)

Expand Down Expand Up @@ -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))
Expand Down Expand Up @@ -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")
Expand Down
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