Merge pull request #1 from RobotecAI/refactor

PEP8 issues refactor, rosbag2_benchmarking package info updated.

rosbag2_performance/rosbag2_benchmarking/.gitignore

@@ -0,0 +1 @@
+*__pycache__*

rosbag2_performance/rosbag2_benchmarking/package.xml

@@ -2,10 +2,10 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rosbag2_benchmarking</name>
-  <version>0.0.0</version>
-  <description>TODO: Package description</description>
+  <version>0.1.0</version>
+  <description>Benchmarking tools for rosbag2</description>
   <maintainer email="jaroszekpiotr@gmail.com">pjaroszek</maintainer>
-  <license>TODO: License declaration</license>
+  <license>Apache License 2.0</license>
 
   <exec_depend>rclpy</exec_depend>
   <exec_depend>std_msgs</exec_depend>

rosbag2_performance/rosbag2_benchmarking/plotting/plot_logging_data.py

@@ -4,30 +4,31 @@
 # you may not use this file except in compliance with the License.
 # You may obtain a copy of the License at
 #
-#     http:#www.apache.org/licenses/LICENSE-2.0
+#     http://www.apache.org/licenses/LICENSE-2.0
 #
 # Unless required by applicable law or agreed to in writing, software
 # distributed under the License is distributed on an "AS IS" BASIS,
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import os, pathlib, re
-import matplotlib.pyplot as plt
-import numpy as np
-import sys
 import argparse
+import os
+import pathlib
+import re
+
+import matplotlib.pyplot as plt
 
 full_path = os.path.realpath(__file__)
 path, filename = os.path.split(full_path)
-filename = "record.1000.100.1000.txt"
+filename = 'record.1000.100.1000.txt'
 
 parser = argparse.ArgumentParser()
 parser.add_argument('-i', '--input')
 args = parser.parse_args()
 filename = args.input
 
-print("processing file " + filename)
+print('processing file ' + filename)
 
 raport_path = pathlib.Path(path).joinpath(filename)
 
@@ -37,33 +38,43 @@
 insert_start_times = []
 insert_end_times = []
 
-with open(str(raport_path), "r") as raport1:
+with open(str(raport_path), 'r') as raport1:
     first_line = raport1.readline()
-    start_time = float(re.search('([0-9]*\.[0-9]*).*', first_line).group(1))
+    start_time = float(re.search(r'([0-9]*\.[0-9]*).*', first_line).group(1))
     print(start_time)
 
     lines = raport1.readlines()
     for line in [first_line] + lines:
 
-        callback_match = re.search('([0-9]*\.[0-9]*).*\[Callback\]', line)
+        callback_match = \
+            re.search(r'([0-9]*\.[0-9]*).*\[Callback\]', line)
         if callback_match:
-            callback_times.append(float(callback_match.group(1))-start_time)
+            callback_times.append(
+                float(callback_match.group(1))-start_time)
 
-        begin_trans_match = re.search('([0-9]*\.[0-9]*).*begin transaction', line)
+        begin_trans_match = \
+            re.search(r'([0-9]*\.[0-9]*).*begin transaction', line)
         if begin_trans_match:
-            begin_trans_times.append(float(begin_trans_match.group(1))-start_time)
+            begin_trans_times.append(
+                float(begin_trans_match.group(1)) - start_time)
 
-        commit_trans_match = re.search('([0-9]*\.[0-9]*).*commit transaction', line)
+        commit_trans_match = \
+            re.search(r'([0-9]*\.[0-9]*).*commit transaction', line)
         if commit_trans_match:
-            commit_trans_times.append(float(commit_trans_match.group(1))-start_time)
+            commit_trans_times.append(
+                float(commit_trans_match.group(1)) - start_time)
 
-        insert_start_match = re.search('([0-9]*\.[0-9]*).*Executing insert start', line)
+        insert_start_match = \
+            re.search(r'([0-9]*\.[0-9]*).*Executing insert start', line)
         if insert_start_match:
-            insert_start_times.append(float(insert_start_match.group(1))-start_time)
+            insert_start_times.append(
+                float(insert_start_match.group(1)) - start_time)
 
-        insert_end_match = re.search('([0-9]*\.[0-9]*).*Executing insert end', line)
+        insert_end_match = \
+            re.search(r'([0-9]*\.[0-9]*).*Executing insert end', line)
         if insert_end_match:
-            insert_end_times.append(float(insert_end_match.group(1))-start_time)
+            insert_end_times.append(
+                float(insert_end_match.group(1)) - start_time)
 
 dt_between_callbacks = []
 last_callback_time = None
@@ -82,17 +93,52 @@
 insert_end_times_v = [2] * len(insert_end_times)
 
 fig, ax = plt.subplots(figsize=(15, 6))
-fig.suptitle(filename + " msg_count=" + str(len(callback_times)), fontsize=16)
-if (len(begin_trans_times_v)>0):
-    ax.stem(begin_trans_times, begin_trans_times_v, label='begin_transaction', markerfmt=' ', linefmt='r-', basefmt='k')
-if (len(commit_trans_times_v)>0):
-    ax.stem(commit_trans_times, commit_trans_times_v, label='commit_transaction', markerfmt=' ', linefmt='g-', basefmt='k')
-if (len(insert_start_times)>0):
-    ax.stem(insert_start_times, insert_start_times_v, label='insert_start', markerfmt=' ', linefmt='y-', basefmt='k')
-if (len(insert_end_times)>0):
-    ax.stem(insert_end_times, insert_end_times_v, label='insert_end', markerfmt=' ', linefmt='m-', basefmt='k')
-if (len(callback_times)>0):
-    ax.stem(callback_times, callback_times_v, label='callback', markerfmt=' ', linefmt='b-', basefmt='k')
+fig.suptitle(filename + ' msg_count=' + str(len(callback_times)), fontsize=16)
+if (len(begin_trans_times_v) > 0):
+    ax.stem(
+        begin_trans_times,
+        begin_trans_times_v,
+        label='begin_transaction',
+        markerfmt=' ',
+        linefmt='r-',
+        basefmt='k'
+    )
+if (len(commit_trans_times_v) > 0):
+    ax.stem(
+        commit_trans_times,
+        commit_trans_times_v,
+        label='commit_transaction',
+        markerfmt=' ',
+        linefmt='g-',
+        basefmt='k'
+    )
+if (len(insert_start_times) > 0):
+    ax.stem(
+        insert_start_times,
+        insert_start_times_v,
+        label='insert_start',
+        markerfmt=' ',
+        linefmt='y-',
+        basefmt='k'
+    )
+if (len(insert_end_times) > 0):
+    ax.stem(
+        insert_end_times,
+        insert_end_times_v,
+        label='insert_end',
+        markerfmt=' ',
+        linefmt='m-',
+        basefmt='k'
+    )
+if (len(callback_times) > 0):
+    ax.stem(
+        callback_times,
+        callback_times_v,
+        label='callback',
+        markerfmt=' ',
+        linefmt='b-',
+        basefmt='k'
+    )
 plt.yticks([])
 
 ax.legend(loc='upper right')

rosbag2_performance/rosbag2_benchmarking/pytest.ini

@@ -0,0 +1,2 @@
+[pytest]
+junit_family=xunit2

rosbag2_performance/rosbag2_benchmarking/rosbag2_benchmarking/dummy_publishers.py

@@ -11,50 +11,69 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
+"""Dummy publisher for warming up rosbag2 topics."""
 
-import rclpy, time
+import time
+
+import rclpy
 from rclpy.node import Node
 
+
 class DummyPublisherUtility(Node):
+    """Dummy publisher creates publishers for warming up topics on rosbag2."""
 
     __publishers = []
 
     def __init__(self):
+        """Initialize class with required topics and corresponding types."""
         super().__init__('dummy_publisher')
-        self.declare_parameter("topics")
-        self.declare_parameter("types")
+        self.declare_parameter('topics')
+        self.declare_parameter('types')
 
-        topics = self.get_parameter("topics").get_parameter_value().string_array_value
-        types = self.get_parameter("types").get_parameter_value().string_array_value
+        topics = self.get_parameter(
+            'topics'
+        ).get_parameter_value().string_array_value
+        types = self.get_parameter(
+            'types'
+        ).get_parameter_value().string_array_value
 
         if len(topics) != len(types):
-            raise RuntimeError("Topics and types length mismatch.")
+            raise RuntimeError('Topics and types length mismatch.')
 
-        for i in range(0,len(topics)):
-            self.warm_up_topic(topics[i], types[i])
+        for i in range(0, len(topics)):
+            self.__warm_up_topic(topics[i], types[i])
             time.sleep(0.01)
 
-    def warm_up_topic(self, topic, type_):
-        if type_ == "sensor_msgs/msg/Image":
+    def __warm_up_topic(self, topic, type_):
+        if type_ == 'sensor_msgs/msg/Image':
             from sensor_msgs.msg import Image
-            self.__publishers.append(self.create_publisher(Image, topic, 1))
-        elif type_ == "sensor_msgs/msg/PointCloud2":
+            self.__publishers.append(
+                self.create_publisher(Image, topic, 1)
+            )
+        elif type_ == 'sensor_msgs/msg/PointCloud2':
             from sensor_msgs.msg import PointCloud2
-            self.__publishers.append(self.create_publisher(PointCloud2, topic, 1))
-        elif type_ == "std_msgs/msg/ByteMultiArray":
+            self.__publishers.append(
+                self.create_publisher(PointCloud2, topic, 1)
+            )
+        elif type_ == 'std_msgs/msg/ByteMultiArray':
             from std_msgs.msg import ByteMultiArray
-            self.__publishers.append(self.create_publisher(ByteMultiArray, topic, 1))
+            self.__publishers.append(
+                self.create_publisher(ByteMultiArray, topic, 1)
+            )
         else:
             # (piotr.jaroszek) TODO: fill out rest or make a dynamic import
             pass
 
+
 def main():
+    """Ros2 once-spin run."""
     rclpy.init()
     node = DummyPublisherUtility()
     while rclpy.ok():
         rclpy.spin_once(node, timeout_sec=0.1)
         rclpy.shutdown()
     node.destroy_node()
 
+
 if __name__ == '__main__':
     main()