Added a new argument "plot_function_level_processing_time"

Signed-off-by: Shintaro Sakoda <[email protected]>

common/autoware_debug_tools/autoware_debug_tools/system_performance_plotter/processing_time_plotter.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 
-from tier4_debug_msgs.msg import Float64Stamped
+from tier4_debug_msgs.msg import Float64Stamped, ProcessingTimeTree
 
 from .system_performance_plotter_base import PREDEFINED_COMPONENT_NAMES
 from .system_performance_plotter_base import SystemPerformancePlotterBase
@@ -28,17 +28,29 @@ def check_topic(self, 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 update_metrics_func(self, topic_name, data, date_time, parse_processing_time_tree=False):
+        if isinstance(data, Float64Stamped):
+            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)
+        elif isinstance(data, ProcessingTimeTree) and parse_processing_time_tree:
+            for node in data.nodes:
+                curr_name = topic_name + ":" + node.name
+                if curr_name not in self.stamp_and_metrics:
+                    self.stamp_and_metrics[curr_name] = []
+                    self.max_metrics[curr_name] = 0.0
+
+                processing_time_ms = node.processing_time
+                self.stamp_and_metrics[curr_name].append(
+                    [date_time, processing_time_ms]
+                )
+                self.max_metrics[curr_name] = max(
+                    self.max_metrics[curr_name], processing_time_ms
+                )
 
 
 def main():

common/autoware_debug_tools/autoware_debug_tools/system_performance_plotter/system_performance_plotter_base.py

@@ -43,6 +43,10 @@ def __init__(self, args, ylabel, output_suffix):
         self.stamp_and_metrics = {}
         self.max_metrics = {}
 
+        self.additional_args = {}
+        if args.plot_function_level_processing_time:
+            self.additional_args["parse_processing_time_tree"] = True
+
     def run(self):
         # read data from rosbag
         reader = create_reader(self.input_bag_dir)
@@ -60,7 +64,7 @@ def run(self):
             time_stamp = stamp * to_nanosec
             date_time = datetime.fromtimestamp(time_stamp)
 
-            self.update_metrics_func(topic_name, data, date_time)
+            self.update_metrics_func(topic_name, data, date_time, **self.additional_args)
 
         # sort stamp_and_metrics by alphabetical order
         self.stamp_and_metrics = dict(sorted(self.stamp_and_metrics.items(), key=lambda x: x[0]))
@@ -202,6 +206,13 @@ def create_common_argment(ymax=None):
         action="store_true",
         help="whether to skip plt.show()",
     )
+    parser.add_argument(
+        "-f",
+        "--plot_function_level_processing_time",
+        default=False,
+        action="store_true",
+        help="whether to plot function level processing time",
+    )
 
     args = parser.parse_args()