Python3 script to parse pc_pipe_times

parse_pc_pipe_times.py

import bisect
import copy
import statistics
import sys

if len(sys.argv) != 2:
    print("Usage: %s <file>" % (sys.argv[0]))
    sys.exit(1)

total_time_ms_list = []

times_tuple = {
    'start': None,
    'camera': None,
    'image_filter_right': None,
    'image_filter_left': None,
    'disparity': None,
    'pointcloud_sub': None,
    'pointcloud_pub': None,
    'topic_echo': None,
}

longest_time_tuple = {}

with open(sys.argv[1], 'r') as infp:
    for line in infp:
        split = line.split(',')
        if len(split) != 2:
            continue

        name = split[0].strip()
        time_ms = int(split[1].strip())

        if name == '"ROS2TOPIC PUB"':
            if times_tuple['start'] is not None:
                print("Lost data!  Start time was %d" % (times_tuple['start']))
            times_tuple['start'] = time_ms
            start_time_ms = time_ms
        elif name == '"CAMERA CONTROLLER SUB"':
            times_tuple['camera'] = time_ms
        elif name == '"IMAGE_FILTER_RIGHT SUB"':
            times_tuple['image_filter_right'] = time_ms
        elif name == '"IMAGE_FILTER_LEFT SUB"':
            times_tuple['image_filter_left'] = time_ms
        elif name == '"DISPARITY SUB"':
            times_tuple['disparity'] = time_ms
        elif name == '"POINTCLOUD SUB"':
            times_tuple['pointcloud_sub'] = time_ms
        elif name == '"POINTCLOUD PUB"':
            times_tuple['pointcloud_pub'] = time_ms
        elif name == '"ROS2TOPIC ECHO"':
            times_tuple['topic_echo'] = time_ms
            if times_tuple['start'] is not None:
                total_time_ms = times_tuple['topic_echo'] - times_tuple['start']
                bisect.insort_left(total_time_ms_list, total_time_ms)

                if total_time_ms >= total_time_ms_list[-1]:
                    longest_time_tuple = copy.deepcopy(times_tuple)

            times_tuple['start'] = None
            times_tuple['camera'] = None
            times_tuple['image_filter_right'] = None
            times_tuple['image_filter_left'] = None
            times_tuple['disparity'] = None
            times_tuple['pointcloud_sub'] = None
            times_tuple['pointcloud_pub'] = None
            times_tuple['topic_echo'] = None
        else:
            # Unknown name, skip
            print("Unknown name '%s', skipping" % (name))
            continue

#total_time_ms_list.sort()
print("Total complete pipeline passes: %d" % (len(total_time_ms_list)))
print("Average total time (ms): %d" % (sum(total_time_ms_list) / len(total_time_ms_list)))
print("Median total time (ms): %d" % (statistics.median(total_time_ms_list)))
print("Minimum total time (ms): %d" % (total_time_ms_list[0]))
print("Maximum total time (ms): %d" % (total_time_ms_list[-1]))
print("  start -> camera_controller: %d ms" % (longest_time_tuple['camera'] - longest_time_tuple['start']))
print("  camera_controller -> image_filter: %d ms" % (longest_time_tuple['image_filter_right'] - longest_time_tuple['camera']))
print("  image_filter -> disparity: %d ms" % (longest_time_tuple['disparity'] - longest_time_tuple['image_filter_right']))
print("  disparity -> pointcloud sub: %d ms" % (longest_time_tuple['pointcloud_sub'] - longest_time_tuple['disparity']))
print("  pointcloud sub -> pointcloud pub: %d ms" % (longest_time_tuple['pointcloud_pub'] - longest_time_tuple['pointcloud_sub']))
print("  pointcloud pub -> ros2topic echo: %d ms" % (longest_time_tuple['topic_echo'] - longest_time_tuple['pointcloud_pub']))