Skip to content

Latest commit

 

History

History

report

README.md

Scripts to create report

General analysis report

  • ./report_analysis
  • This report contains the following analysis
    • analyze_node
    • analyze_path
    • track_path
    • (check_callback_sub)
    • (check_callback_timer)
  • Run the following commands
    • Make sure to modify settings for your usage and environment
    • Make sure to prepare setting files
  • output/report_{dir_name_of_trace_data} is created
    • Open index.html to see a report
script_path=<path-to-caret_report>/report/report_analysis   # Path to CARET_report
export component_list_json=./component_list.json     # Path to setting file
export target_path_json=./target_path.json           # Path to setting file
export max_node_depth=20                             # The number of depth to search path. Increase it in case path is not found
export timeout=120                                   # Timeout[sec] to search path. Increase it in case path is not found
export draw_all_message_flow=false                   # Flag to a create message flow graph for a whole time period (this will increase report creation time)
export report_store_dir=./output                     # Path to past report store if exist
export relpath_from_report_store_dir=false           # Create a link to past reports assuming the current report is created under report_store_dir
export note_text_top=./note_text_top.txt             # Path to setting file
export note_text_bottom=./note_text_bottom.txt       # Path to setting file
export start_strip=120                               # strip time at the start [sec] for analysis
export end_strip=30                                  # strip time at the end [sec] for analysis
export sim_time=false                                # use simulation time (ROS time) or system time
export is_path_analysis_only=false                   # (optional) Set true if you want to run path analysis only
export is_html_only=false                            # (optional) Set true if you want to re-generate html files
export find_valid_duration=false                     # (optional) Set true so that start_strip is automatically detected
export duration=0                                    # (optional) Set a value (second) for duration to calculate end_strip
export trace_data=~/.ros/tracing/session-yyyymmddhhmmss  # Path to CARET trace data (CTF file)
export sub_trace_data=~/.ros/tracing/session-yyyymmddhhmmss_sub  # (optional) Path to CARET trace data recorded in Sub ECU (CTF file)
sh ${script_path}/make_report.sh

Validation report

  • ./report_validation
  • This report contains the following analysis
    • validate_callback
    • validate_topic
    • trace_validation_failure
    • analyze_path
    • track_path
  • Run the following commands
    • Make sure to modify settings for your usage and environment
    • Make sure to prepare setting files
  • output/val_{dir_name_of_trace_data} is created
    • Open index.html to see a report
script_path=<path-to-caret_report>/report/report_validation   # Path to CARET_report
export component_list_json=./component_list.json     # Path to setting file
export target_path_json=./target_path.json           # Path to setting file
export max_node_depth=20                             # The number of depth to search path. Increase it in case path is not found
export timeout=120                                   # Timeout[sec] to search path. Increase it in case path is not found
export draw_all_message_flow=false                   # Flag to a create message flow graph for a whole time period (this will increase report creation time)
export report_store_dir=./output                     # Path to past report store if exist
export relpath_from_report_store_dir=false           # Create a link to past reports assuming the current report is created under report_store_dir
export callback_list_csv=./callback_list.csv         # Path to setting file
export note_text_top=./note_text_top.txt             # Path to setting file
export note_text_bottom=./note_text_bottom.txt       # Path to setting file
export start_strip=120                               # strip time at the start [sec] for analysis
export end_strip=30                                  # strip time at the end [sec] for analysis
export sim_time=false                                # use simulation time (ROS time) or system time
export is_path_analysis_only=false                   # (optional) Set true if you want to run path analysis only
export is_html_only=false                            # (optional) Set true if you want to re-generate html files
export find_valid_duration=false                     # (optional) Set true so that start_strip is automatically detected
export duration=0                                    # (optional) Set a value (second) for duration to calculate end_strip
export trace_data=~/.ros/tracing/session-yyyymmddhhmmss  # Path to CARET trace data (CTF file)
export sub_trace_data=~/.ros/tracing/session-yyyymmddhhmmss_sub  # (optional) Path to CARET trace data recorded in Sub ECU (CTF file)
sh ${script_path}/make_report.sh

Setting files

component_list.json

  • This file contains basic settings for analysis
  • Scripts using this file
    • analyze_node
    • check_callback_sub
    • check_callback_sub
    • report_validation
    • validate_callback
    • validate_topic
{
  # Component name information
  # Pairs of "component_name" and "regular expression for nodes belonging to the component"
  "component_dict": {
    "sensing": "^/sensing",
    "localization": "^/localization",
    "perception": "^/perception",
    "planning": "^/planning",
    "control": "^/control",
    "system": "^/system",
    "vehicle": "(^/vehicle|^/pacmod|^/raw_vehicle_cmd_converter)"
  },

  # External input topic information
  # Pairs of "regular expression for topics" and "regular expression for nodes"
  "external_in_topic_list": [
    ["^/sensing/.*/velodyne_packets", ""],
    ["^/pacmod/from_can_bus", "^/pacmod/pacmod$"]
  ],

  # External output topic information
  # Pairs of "regular expression for topics" and "regular expression for nodes"
  "external_out_topic_list": [
    ["^/pacmod/to_can_bus", "^/pacmod/pacmod$"]
  ],

  # Ignore node list
  # List of "Regular expression for nodes to be ignored"
  "ignore_list": [
    "container"
  ]
}

note_text_top.txt, note_text_bottom.txt

  • The html text in the files are added on the top/bottom of the report index page
  • Scripts using this file
    • report_analysis
    • report_validation

target_path.json

  • Path analysis report will show results for paths described in this JSON file
    • The script tries to search paths including the described nodes (and topics) in the JSON file
    • In case the path is not found, the path is not shown in the report
    • If several paths are found, the path name will be displayed as "{path_name}_0", "{path_name}_1", ... in the report
  • Scripts using this file
    • analyze_path
  • "path"
    • Node list of the path
    • Regular expression is supported, but the first and the last entry should not include a regular expression
    • Intermediate nodes can be omitted, but it may cause searching path failure or increase the time to search path
    • [node_name, topic_name] can be used instead of node_name
      • In this case, node whose name is node_name and who publishes or subscribes topic_name will be found
      • It is useful when two nodes are connected via multiple topics
    • path_blocks can be used instead of path so that path can be divided
  • "include_first_callback" , "include_last_callback" (optional)
    • The latency in the first/last callback is added to the path
    • If these parameters are not set, true is used as default
{
  # List of topics to be ignored while searching paths
  "ignore_topic_list": [
    "/tf",
    "/tf_static"
  ],

  # List of nodes to be ignored while searching paths
  "ignore_node_list": [
    "/_ros2cli_/*",
    "/launch_ros_*"
  ],

  # List of path description
  "target_path_list": [
    {
      # Name of the path
      "name": "component_sensing",

      # Node list of the path
      "path": [
        "/sensing/lidar/top/velodyne_driver",
        "/sensing/lidar/top/velodyne_convert_node",
        "/sensing/lidar/top/crop_box_filter_self",
        "/sensing/lidar/top/crop_box_filter_mirror",
        "/sensing/lidar/top/distortion_corrector_node",
        "/sensing/lidar/top/ring_outlier_filter",
        "/sensing/lidar/concatenate_data"
      ],
      "include_first_callback": false,
      "include_last_callback": true
    }
  ]
}

Easy way to create target_path.json

  • Install Dear RosNodeViewer
  • Open graph ( e.g.: dear_ros_node_viewer architecture.yaml )
  • Select nodes in the path which you want to analyze
    • ctrl + click
  • Press C to export node name list to clip board
  • Paste the exported node name list to json file

Why regular expression is helpful?

  • In case a node name varies for each execution, you can write node name in JSON like the following
    • Before: /node_name_xyz_abc1234567_1234567_1234567891234567891
    • After: /node_name_xyz.*

callback_list.csv

  • This file contains expected callback frequency for validation
  • Scripts using this file
    • validate_callback
  • The following files are generated in the created report directory, and they are helpful to update this file
    • callback_list_new.csv
      • The list of callbacks which are not described in callback_list.csv, but are actually used
    • callback_list_deleted.csv
      • The list of callbacks which are described in callback_list.csv, but are actually not used
# "node name" , "callback type" , "trigger" , "expected Hz"
/sensing/lidar/top/velodyne_convert_node,subscription_callback,/sensing/lidar/top/velodyne_packets,10
/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner,timer_callback,100000000,10

Others

Find the valid start/end of the trace data

  • ./find_valid_duration
  • This script finds the duration from all the path begin to min(specified_duration, data end)
  • The result is written to start_strip.txt and end_strip.txt
script_path=<path-to-caret_report>/report/find_valid_duration   # Path to CARET_report
export component_list_json=./component_list.json                # Path to setting file
export target_path_json=./target_path.json                      # Path to setting file
export duration=60                                              # duration to load trace data
export trace_data=~/.ros/tracing/session-yyyymmddhhmmss         # Path to CARET trace data (CTF file)
sh ${script_path}/find_valid_duration.sh