feat(autoware_debug_tools): add system performance plotter (#91)

* feat(autoware_debug_tools): add system performance plotter

Signed-off-by: Takayuki Murooka <[email protected]>

* update README

Signed-off-by: Takayuki Murooka <[email protected]>

* fix README.md

Signed-off-by: Takayuki Murooka <[email protected]>

---------

Signed-off-by: Takayuki Murooka <[email protected]>

common/autoware_debug_tools/README.md

@@ -59,3 +59,51 @@ You can run the program by the following command.
 ```bash
 ros2 run autoware_debug_tools system_usage_monitor
 ```
+
+## System Performance Plotter
+
+This script plots the following metrics by each Autoware's module.
+
+- processing time
+- CPU usage
+- memory usage
+
+### Usage
+
+Run the following commands according to your purpose.
+
+```bash
+# plot processing time
+ros2 run autoware_debug_tools processing_time_plotter <bag-path>
+
+# plot CPU usage
+ros2 run autoware_debug_tools cpu_usage_plotter <bag-path>
+
+# plot memory usage
+ros2 run autoware_debug_tools memory_usage_plotter <bag-path>
+```
+
+There are several options.
+
+- `-c`:
+  - can filter modules in the specific component (e.g. `all`, `planning`, `system`, etc).
+- `-n <number>`:
+  - can pick up top `<number>` critical modules.
+- `-g <text>`
+  - can filter the modules which include `<text>`.
+- `-y <val>`
+  - can set the height of the plot to `<val>`.
+
+### Examples
+
+```bash
+ros2 run autoware_debug_tools processing_time_plotter <bag-path> -c planning -g behavior_path -y 300
+```
+
+![processing_time_plot_example](images/processing_time_plot_example.png)
+
+```bash
+ros2 run autoware_debug_tools cpu_usage_plotter <bag-path> -n 20
+```
+
+![cpu_usage_plot_example](images/cpu_usage_plot_example.png)

common/autoware_debug_tools/autoware_debug_tools/system_performance_plotter/cpu_usage_plotter.py

@@ -0,0 +1,52 @@
+#!/usr/bin/env python3
+
+from tier4_debug_msgs.msg import SystemUsageArray
+
+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
+
+
+class CpuUsagePlotter(SystemPerformancePlotterBase):
+    def check_topic(self, topic_name):
+        if self.grep_topic_name is not None and self.grep_topic_name not in topic_name:
+            return False
+        if "/system_usage" not in topic_name:
+            return False
+        return True
+
+    def update_metrics_func(self, topic_name, data, date_time):
+        if not isinstance(data, SystemUsageArray):
+            return
+
+        for system_usage in data.system_usage:
+            if self.component_name == "all":
+                # all
+                pass
+            elif self.component_name not in PREDEFINED_COMPONENT_NAMES:
+                # others (other than PREDEFINED_COMPONENT_NAMES)
+                if system_usage.name.split("/")[0] in PREDEFINED_COMPONENT_NAMES:
+                    continue
+            elif system_usage.name.split("/")[0] != self.component_name:
+                # specific component
+                continue
+
+            if system_usage.name not in self.stamp_and_metrics:
+                self.stamp_and_metrics[system_usage.name] = []
+                self.max_metrics[system_usage.name] = 0.0
+
+            cpu_usage = system_usage.cpu_usage
+            self.stamp_and_metrics[system_usage.name].append([date_time, cpu_usage])
+            self.max_metrics[system_usage.name] = max(
+                self.max_metrics[system_usage.name], cpu_usage
+            )
+
+
+def main():
+    args = create_common_argment(100)
+    plotter = CpuUsagePlotter(args, "CPU Usage [%]", "_cpu_usage")
+    plotter.run()
+
+
+if __name__ == "__main__":
+    main()

common/autoware_debug_tools/autoware_debug_tools/system_performance_plotter/memory_usage_plotter.py

@@ -0,0 +1,52 @@
+#!/usr/bin/env python3
+
+from tier4_debug_msgs.msg import SystemUsageArray
+
+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
+
+
+class MemoryUsagePlotter(SystemPerformancePlotterBase):
+    def check_topic(self, topic_name):
+        if self.grep_topic_name is not None and self.grep_topic_name not in topic_name:
+            return False
+        if "/system_usage" not in topic_name:
+            return False
+        return True
+
+    def update_metrics_func(self, topic_name, data, date_time):
+        if not isinstance(data, SystemUsageArray):
+            return
+
+        for system_usage in data.system_usage:
+            if self.component_name == "all":
+                # all
+                pass
+            elif self.component_name not in PREDEFINED_COMPONENT_NAMES:
+                # others (other than PREDEFINED_COMPONENT_NAMES)
+                if system_usage.name.split("/")[0] in PREDEFINED_COMPONENT_NAMES:
+                    continue
+            elif system_usage.name.split("/")[0] != self.component_name:
+                # specific component
+                continue
+
+            if system_usage.name not in self.stamp_and_metrics:
+                self.stamp_and_metrics[system_usage.name] = []
+                self.max_metrics[system_usage.name] = 0.0
+
+            memory_usage = system_usage.memory_usage / 1024**2
+            self.stamp_and_metrics[system_usage.name].append([date_time, memory_usage])
+            self.max_metrics[system_usage.name] = max(
+                self.max_metrics[system_usage.name], memory_usage
+            )
+
+
+def main():
+    args = create_common_argment()
+    plotter = MemoryUsagePlotter(args, "Memory Usage [MiB]", "_memory_usage")
+    plotter.run()
+
+
+if __name__ == "__main__":
+    main()

common/autoware_debug_tools/autoware_debug_tools/system_performance_plotter/processing_time_plotter.py

@@ -0,0 +1,51 @@
+#!/usr/bin/env python3
+
+from tier4_debug_msgs.msg import Float64Stamped
+
+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
+
+
+class ProcessingTimePlotter(SystemPerformancePlotterBase):
+    def check_topic(self, topic_name):
+        if self.grep_topic_name is not None and self.grep_topic_name not in topic_name:
+            return False
+        if "/processing_time_ms" not in topic_name:
+            return False
+
+        if self.component_name == "all":
+            # all
+            pass
+        elif self.component_name in PREDEFINED_COMPONENT_NAMES:
+            # specific component
+            if f"/{self.component_name}/" not in topic_name:
+                return False
+        else:
+            # others (other than PREDEFINED_COMPONENT_NAMES)
+            for predefined_component_name in PREDEFINED_COMPONENT_NAMES:
+                if f"/{predefined_component_name}/" in topic_name:
+                    return False
+        return True
+
+    def update_metrics_func(self, topic_name, data, date_time):
+        if not isinstance(data, Float64Stamped):
+            return
+
+        if topic_name not in self.stamp_and_metrics:
+            self.stamp_and_metrics[topic_name] = []
+            self.max_metrics[topic_name] = 0.0
+
+        processing_time_ms = data.data
+        self.stamp_and_metrics[topic_name].append([date_time, processing_time_ms])
+        self.max_metrics[topic_name] = max(self.max_metrics[topic_name], processing_time_ms)
+
+
+def main():
+    args = create_common_argment(100)
+    plotter = ProcessingTimePlotter(args, "Processing Time [ms]", "_processing_time")
+    plotter.run()
+
+
+if __name__ == "__main__":
+    main()