Runtime

CARET runtime package.

This package provides a set of classes with static (e.g., node names) and dynamic information (e.g., execution times). It has a ROS-friendly class structure that allows application developers to obtain the information they need for evaluation.

Application

Bases: Summarizable

A class that represents the entire application to be measured.

callback_group_names: list[str] property

Get callback group names.

Returns:

Type	Description
list[str]	All callback group names defined in the architecture.

callback_groups: list[CallbackGroup] property

Get callback groups.

Returns:

Type	Description
list[CallbackGroup]	All callback groups defined in the architecture.

callback_names: list[str] property

Get callback names.

Returns:

Type	Description
list[str]	All callback names defined in the architecture.

callbacks: list[CallbackBase] property

Get callbacks.

Returns:

Type	Description
list[CallbackBase]	All callbacks defined in the architecture.

communications: list[Communication] property

Get communications.

Returns:

Type	Description
list[Communication]	All communications defined in the architecture.

executor_names: list[str] property

Get executor names.

Returns:

Type	Description
list[str]	All executor names defined in the architecture.

executors: list[Executor] property

Get executors.

Returns:

Type	Description
list[Executor]	All executors defined in the architecture.

node_names: list[str] property

Get node names.

Returns:

Type	Description
list[str]	All node names defined in the architecture.

node_paths: list[NodePathStructValue] property

Get paths.

Returns:

Type	Description
list[NodePathStructValue]	app node paths defined in the entire application.

nodes: list[Node] property

Get nodes.

Returns:

Type	Description
list[Node]	All nodes defined in the architecture.

path_names: list[str] property

Get path names.

Returns:

Type	Description
list[str]	App path names defined in the architecture.

paths: list[Path] property

Get paths.

Returns:

Type	Description
list[Path]	All paths defined in the architecture.

publishers: list[Publisher] property

Get publishers.

Returns:

Type	Description
list[Publisher]	All publishers defined in the architecture.

subscriptions: list[Subscription] property

Get subscriptions.

Returns:

Type	Description
list[Subscription]	All subscriptions defined in the architecture.

summary: Summary property

Get summary [override].

Returns:

Type	Description
Summary	Summary info.

topic_names: list[str] property

Get topic names.

Returns:

Type	Description
list[str]	All topic names defined in architecture.

__init__(architecture, infra)

Construct an instance.

Parameters:

Name	Type	Description	Default
architecture	Architecture	Application architecture to be evaluated.	required
infra	InfraBase	Measurement results.	required

Raises:

Type	Description
UnsupportedTypeError	Occurs when the invalid infra is given.

get_callback(callback_name)

Get a callback that matches the condition.

Parameters:

Name	Type	Description	Default
callback_name	str	callback name to get.	required

Returns:

Type	Description
CallbackBase	callback that matches the condition.

Raises:

Type	Description
InvalidArgumentError	Occurs when the given argument type is invalid.
ItemNotFoundError	Occurs when no items were found.
MultipleItemFoundError	Occurs when several items were found.

get_callback_group(callback_group_name)

Get a callback group that matches the condition.

Parameters:

Name	Type	Description	Default
callback_group_name	str	callback group name to get.	required

Returns:

Type	Description
CallbackBase	callback group that matches the condition.

Raises:

Type	Description
InvalidArgumentError	Given argument type is invalid.
ItemNotFoundError	Failed to find an item that matches the condition.
MultipleItemFoundError	Failed to identify an item that matches the condition.

get_callbacks(*callback_names)

Get callbacks that match the condition.

Parameters:

Name	Type	Description	Default
*callback_names	str	callback names to get.	()

Returns:

Type	Description
list[CallbackBase]	callbacks that match the condition.

Raises:

Type	Description
InvalidArgumentError	Occurs when the given argument type is invalid.
ItemNotFoundError	Occurs when no items were found.
MultipleItemFoundError	Occurs when several items were found.

get_communication(publisher_node_name, subscription_node_name, topic_name, *, publisher_construction_order=0, subscription_construction_order=0)

Get communication that matches the condition.

Parameters:

Name	Type	Description	Default
publisher_node_name	str	node name that publishes the topic.	required
subscription_node_name	str	node name that subscribes to the topic.	required
topic_name	str	topic name.	required
publisher_construction_order	int	A construction order of publisher.	0
subscription_construction_order	int	A construction order of subscription.	0

Returns:

Type	Description
Communication	communication that matches the condition.

Raises:

Type	Description
InvalidArgumentError	Given argument type is invalid.
ItemNotFoundError	Failed to find an item that matches the condition.
MultipleItemFoundError	Failed to identify an item that matches the condition.

get_communications(topic_name)

Get communication that matches the condition.

Parameters:

Name	Type	Description	Default
topic_name	str	topic name to get.	required

Returns:

Type	Description
list[Communication]	communications that match the condition.

Raises:

Type	Description
InvalidArgumentError	Occurs when the given argument type is invalid.
ItemNotFoundError	Failed to find an item that matches the condition.

get_executor(executor_name)

Get an executor that matches the condition.

Parameters:

Name	Type	Description	Default
executor_name	str	executor name to get. The name is defined in the architecture file (ex: executor_0).	required

Returns:

Type	Description
Executor	executor that matches the condition.

Raises:

Type	Description
InvalidArgumentError	Given argument type is invalid.
ItemNotFoundError	Failed to find an item that matches the condition.

get_node(node_name)

Get a node that matches the condition.

Parameters:

Name	Type	Description	Default
node_name	str	node name to get.	required

Returns:

Type	Description
Node	A node that matches the condition.

Raises:

Type	Description
InvalidArgumentError	Occurs when the given argument type is invalid.
ItemNotFoundError	Occurs when no items were found.
MultipleItemFoundError	Occurs when several items were found.

get_node_path(node_name, subscribe_topic_name, publish_topic_name, *, subscription_construction_order=0, publisher_construction_order=0)

Get a node path that matches the condition.

Parameters:

Name	Type	Description	Default
node_name	str	node name to get.	required
subscribe_topic_name	str	topic name which the node subscribes.	required
publish_topic_name	str	topic name which the node publishes.	required
subscription_construction_order	int	A construction order of subscription.	0
publisher_construction_order	int	A construction order of publisher.	0

Returns:

Type	Description
NodePathStructValue	node path that matches the condition.

Raises:

Type	Description
InvalidArgumentError	Occurs when the given argument type is invalid.
ItemNotFoundError	Occurs when no items were found.

get_node_paths(node_name)

Get node paths.

Parameters:

Name	Type	Description	Default
node_name	str	node name to get.	required

Returns:

Type	Description
list[NodePathStructValue]	node paths that match the condition.

Raises:

Type	Description
InvalidArgumentError	Occurs when the given argument type is invalid.

get_path(path_name)

Get a path that matches the condition.

Parameters:

Name	Type	Description	Default
path_name	str	path name to get. paths and their names are defined in the architecture.	required

Returns:

Type	Description
Path	A path that matches the condition.

Raises:

Type	Description
InvalidArgumentError	Occurs when the given argument type is invalid.
ItemNotFoundError	Occurs when no items were found.
MultipleItemFoundError	Occurs when several items were found.

get_publishers(topic_name)

Get publishers that match the condition.

Parameters:

Name	Type	Description	Default
topic_name	str	topic name to get.	required

Returns:

Type	Description
list[Publisher]	publishers that match the condition.

Raises:

Type	Description
InvalidArgumentError	Occurs when the given argument type is invalid.
ItemNotFoundError	Failed to find an item that matches the condition.

get_subscriptions(topic_name)

Get subscriptions that match the condition.

Parameters:

Name	Type	Description	Default
topic_name	str	topic name to get.	required

Returns:

Type	Description
list[Publisher]	subscriptions that match the condition.

Raises:

Type	Description
InvalidArgumentError	Occurs when the given argument type is invalid.
ItemNotFoundError	Failed to find an item that matches the condition.

CallbackBase

Bases: PathBase, Summarizable

A base class that represents callback.

callback_name: str property

Get callback name defined in the architecture.

Returns:

Type	Description
str	callback name defined in architecture.

callback_type: CallbackType property

Get callback type.

Returns:

Type	Description
CallbackType	callback type.

node_name: str property

Get node name.

Returns:

Type	Description
str	node name containing this callback.

publish_topic_names: list[str] | None property

Get publisher topic names.

Returns:

Type	Description
list[str] | None	topic name list to be published by the callback.

publishers: list[Publisher] | None property

Get publishers.

Returns:

Type	Description
list[Publisher] | None	publishers to which the callback publishes.

subscribe_topic_name: str | None property

Get subscription topic name.

Returns:

Type	Description
str | None	topic name to be subscribed by the callback. None except for subscription callback.

subscription: Subscription | None property

Get subscription.

Returns:

Type	Description
Subscription | None	subscription which the callback is attached. None except for subscription callback.

summary: Summary property

Get summary [override].

Returns:

Type	Description
Summary	summary info.

symbol: str property

Get callback symbol name.

Returns:

Type	Description
str	callback function symbol name.

timer: Timer | None property

Get timer.

Returns:

Type	Description
Timer | None	timer which the callback is attached. None except for timer callback.

value: CallbackStructValue property

Get StructValue object.

Returns:

Type	Description
CallbackStructValue	callback group value.

Notes

This property is for CARET debugging purposes.

__init__(info, records_provider, subscription, publishers, timer)

Construct an instance.

Parameters:

Name	Type	Description	Default
info	CallbackStructValue	static info.	required
records_provider	RecordsProvider	provider to be evaluated.	required
subscription	Subscription | None	None except for subscription callbacks.	required
publishers	list[Publisher] | None	publishers to which the callback publishes.	required
timer	Timer | None	None except for timer callbacks.	required

CallbackGroup

Bases: Summarizable

A class that represents the callback group.

callback_group_name: str property

Get callback group name.

Returns:

Type	Description
str	callback group name defined in the architecture.

callback_group_type: CallbackGroupType property

Get callback_group_type.

Returns:

Name	Type	Description
CallbackGroupType	CallbackGroupType	REENTRANT / MUTUALLY_EXCLUSIVE

callback_group_type_name: str property

Get callback_group_type name.

Returns:

Type	Description
CallbackGroupType name: str	'reentrant' / 'mutually_exclusive'

callbacks: list[CallbackBase] property

Get callbacks.

Returns:

Type	Description
list[CallbackBase]	callbacks which are contained in this callback group.

node_name: str property

Get node name.

Returns:

Type	Description
str	node name which is contained this callback group.

summary: Summary property

Get summary [override].

Returns:

Type	Description
Summary	summary info.

value: CallbackGroupStructValue property

Get StructValue object.

Returns:

Type	Description
CallbackGroupStructValue	callback group value.

Notes

This property is for CARET debugging purposes.

__init__(callback_group_info, callbacks)

Construct an instance.

Parameters:

Name	Type	Description	Default
callback_group_info	CallbackGroupStructValue	static information.	required
callbacks	list[CallbackBase]	callbacks to be added to the callback group.	required

get_callback(callback_name)

Get a callback that matches the condition.

Parameters:

Name	Type	Description	Default
callback_name	str	callback name to get.	required

Returns:

Type	Description
CallbackBase	callback that matches the condition.

Raises:

Type	Description
InvalidArgumentError	Occurs when the given argument type is invalid.
ItemNotFoundError	Occurs when no items were found.

get_callbacks(*callback_names)

Get callbacks that match the condition.

Parameters:

Name	Type	Description	Default
*callback_names	str	callback names to get.	()

Returns:

Type	Description
list[CallbackBase]	callbacks that match the condition.

Communication

Bases: PathBase, Summarizable

Class that represents topic communication.

callback_publish: list[CallbackBase] | None property

Get publisher callback.

Returns:

Type	Description
list[CallbackBase] | None	callback which publishes this communication.

callback_subscription: CallbackBase | None property

Get subscribe callback.

Returns:

Type	Description
CallbackBase | None	callback to which subscribe this communication.

is_intra_proc_comm: bool | None property

Get whether this communication is intra-process-communication.

Returns:

Type	Description
bool | None	True when intra-process-communication. otherwise False.

publish_node: Node property

Get publish node.

Returns:

Type	Description
Node	A node that publishes this communication.

publish_node_name: str property

Get publish node name.

Returns:

Type	Description
str	node name which publishes this communication.

publisher: Publisher property

Get publisher.

Returns:

Type	Description
Publisher	publisher to publish this communication.

publisher_construction_order: int | None property

Get publisher construction order.

Returns:

Type	Description
int | None	A construction order of publisher.

rmw_implementation: str | None property

Get rmw implementation.

Returns:

Type	Description
str | None	rmw implementation.

subscribe_node: Node property

Get subscribe node.

Returns:

Type	Description
Node	node to which subscribes this communication.

subscribe_node_name: str property

Get subscribe node name.

Returns:

Type	Description
str	node name which subscribes to this communication.

subscription: Subscription property

Get subscription.

Returns:

Type	Description
Subscription	subscription to subscribe to this communication.

subscription_construction_order: int | None property

Get subscription construction order.

Returns:

Type	Description
int | None	A construction order of subscription.

summary: Summary property

Get summary [override].

Returns:

Type	Description
Summary	summary info.

topic_name: str property

Get a topic name.

Returns:

Type	Description
str	topic name of this communication.

value: CommunicationStructValue property

Get StructValue object.

Returns:

Type	Description
CommunicationStructValue	communication value.

Notes

This property is for CARET debugging purposes.

__init__(node_publish, node_subscription, publisher, subscription, communication_value, records_provider, callbacks_publish, callback_subscription)

Construct an instance.

Parameters:

Name	Type	Description	Default
node_publish	Node	publish node.	required
node_subscription	Node	subscribe node	required
publisher	Publisher	publisher	required
subscription	Subscription	subscription	required
communication_value	CommunicationStructValue	static info.	required
records_provider	RecordsProvider | RuntimeDataProvider | None	provider to be evaluated.	required
callbacks_publish	list[CallbackBase] | None	callbacks publish	required
callback_subscription	CallbackBase | None	callback subscription	required

verify()

Verify whether latency can be generated.

Returns:

Type	Description
bool	True if valid. Otherwise False.

Executor

Bases: Summarizable

Class that represents executor.

callback_group_names: list[str] property

Get callback group names.

Returns:

Type	Description
list[str]	Callback group names added to the executor.

callback_groups: list[CallbackGroup] property

Get callback groups.

Returns:

Type	Description
list[CallbackGroup]	Callback groups added to the executor.

callback_names: list[str] property

Get callback names.

Returns:

Type	Description
list[str]	callback names added to the executor.

callbacks: list[CallbackBase] property

Get callbacks.

Returns:

Type	Description
list[CallbackBase]	Callbacks added to the executor.

executor_name: str property

Get executor name.

Returns:

Type	Description
str	executor name defined in the architecture.

executor_type: ExecutorType property

Get executor type.

Returns:

Type	Description
ExecutorType	executor type.

summary: Summary property

Get summary [override].

Returns:

Type	Description
Summary	summary info.

value: ExecutorStructValue property

Get StructValue object.

Returns:

Type	Description
ExecutorStructValue	executor value.

Notes

This property is for CARET debugging purposes.

__init__(executor_value, callback_groups)

Construct an instance.

Parameters:

Name	Type	Description	Default
executor_value	ExecutorStructValue	Static info.	required
callback_groups	list[CallbackGroup]	Callback groups added to the executor.	required

get_callback(callback_name)

Get callback.

Parameters:

Name	Type	Description	Default
callback_name	str	callback name to get.	required

Returns:

Type	Description
CallbackBase	callback that matches the condition.

Raises:

Type	Description
InvalidArgumentError	Occurs when the given argument type is invalid.
ItemNotFoundError	Occurs when no items were found.
MultipleItemFoundError	Occurs when several items were found.

get_callback_group(callback_group_name)

Get callback group.

Parameters:

Name	Type	Description	Default
callback_group_name	str	callback group name to get.	required

Returns:

Type	Description
CallbackGroup	Callback group that matches the condition.

Raises:

Type	Description
InvalidArgumentError	Occurs when the given argument type is invalid.
ItemNotFoundError	Occurs when no items were found.
MultipleItemFoundError	Occurs when several items were found.

get_callbacks(*callback_names)

Get callbacks.

Parameters:

Name	Type	Description	Default
*callback_names	str	callback names to get.	()

Returns:

Type	Description
list[CallbackBase]	callbacks that match the condition.

Node

Bases: Summarizable

A class that represents a node.

callback_group_names: list[str] | None property

Get callback group names.

Returns:

Type	Description
list[str] | None	callback group names that the node contains.

callback_groups: list[CallbackGroup] | None property

Get callback groups.

Returns:

Type	Description
list[CallbackGroup] | None	callback groups that the node contains.

callback_names: list[str] | None property

Get callback names.

Returns:

Type	Description
list[str] | None	callback names that the node contains.

callbacks: list[CallbackBase] | None property

Get callbacks.

Returns:

Type	Description
list[CallbackBase] | None	callbacks that the node contains.

node_name: str property

Get node name.

Returns:

Type	Description
str	node name.

paths: list[NodePath] property

Get node paths.

Node paths are defined by subscription and publisher pair.

Returns:

Type	Description
list[NodePath]	node paths that the node contains.

publish_topic_names: list[str] property

Get topic names the node publishes.

Returns:

Type	Description
list[str]	topic names that the node publishes to.

publishers: list[Publisher] property

Get publishers.

Returns:

Type	Description
list[Publisher]	publishers used by the node.

subscribe_topic_names: list[str] property

Get subscribe topic names.

Returns:

Type	Description
list[str]	topic names to which the node subscribes.

subscriptions: list[Subscription] property

Get subscriptions the node subscribes.

Returns:

Type	Description
list[Subscription]	subscriptions that the node subscribes to.

summary: Summary property

Get summary [override].

Returns:

Type	Description
Summary	summary info.

timers: list[Timer] property

Get timers.

Returns:

Type	Description
list[Timer]	timers that the node contains.

value: NodeStructValue property

Get StructValue object.

Returns:

Type	Description
NodeStructValue	node value.

Notes

This property is for CARET debugging purposes.

variable_passings: list[VariablePassing] | None property

Get variable passings.

Returns:

Type	Description
list[VariablePassing] | None	Variable passings that the node contains.

__init__(node, publishers, subscription, timers, node_paths, callback_groups, variable_passings)

Construct an instance.

Parameters:

Name	Type	Description	Default
node	NodeStructValue	static info	required
publishers	list[Publisher]	publishers in the node.	required
subscription	list[Subscription]	subscriptions in the node.	required
timers	list[Timer]	timers in the node.	required
node_paths	list[NodePath]	node paths in the node.	required
callback_groups	list[CallbackGroup] | None	callback groups in the node.	required
variable_passings	list[VariablePassing] | None	variable passings in the node.	required

get_callback(callback_name)

Get callback.

Parameters:

Name	Type	Description	Default
callback_name	str	callback name to get.	required

Returns:

Type	Description
CallbackBase	callback that matches the condition.

Raises:

Type	Description
InvalidArgumentError	Occurs when the given argument type is invalid.
ItemNotFoundError	Occurs when no items were found.
MultipleItemFoundError	Occurs when several items were found.

get_callback_group(callback_group_name)

Get callback group.

Parameters:

Name	Type	Description	Default
callback_group_name	str	callback group name to get.	required

Returns:

Type	Description
CallbackGroup	callback group that matches the condition.

Raises:

Type	Description
InvalidArgumentError	Occurs when the given argument type is invalid.
ItemNotFoundError	Occurs when no items were found.
MultipleItemFoundError	Occurs when several items were found.

get_callbacks(*callback_names)

Get callbacks.

Parameters:

Name	Type	Description	Default
*callback_names	str	callback names to get.	()

Returns:

Type	Description
list[CallbackBase]	callbacks that match the condition.

Raises:

Type	Description
InvalidArgumentError	Occurs when the given argument type is invalid.
ItemNotFoundError	Occurs when no items were found.

get_path(subscribe_topic_name, subscription_construction_order, publish_topic_name, publisher_construction_order)

Get node path.

Parameters:

Name	Type	Description	Default
subscribe_topic_name	str | None	topic name to which the node subscribes.	required
subscription_construction_order	int	A construction order of subscription.	required
publish_topic_name	str | None	topic name to which the node publishes.	required
publisher_construction_order	int	A construction order of publisher.	required

Returns:

Type	Description
NodePath	node path that matches the condition.

Raises:

Type	Description
InvalidArgumentError	Occurs when the given argument type is invalid.
ItemNotFoundError	Occurs when no items were found.
MultipleItemFoundError	Occurs when several items were found.

get_publisher(topic_name, construction_order=None)

Get publisher.

Parameters:

Name	Type	Description	Default
topic_name	str	publisher topic name to get.	required
construction_order	int | None	construction order to get.	None

Returns:

Type	Description
Publisher	A publisher that matches the condition.

Raises:

Type	Description
InvalidArgumentError	Occurs when the given argument type is invalid.
ItemNotFoundError	Occurs when no items were found.
MultipleItemFoundError	Occurs when several items were found.

get_subscription(topic_name, construction_order=None)

Get subscription.

Parameters:

Name	Type	Description	Default
topic_name	str	topic name to get.	required
construction_order	int | None	construction order to get.	None

Returns:

Type	Description
Subscription	Subscription instance that matches the condition.

Raises:

Type	Description
InvalidArgumentError	Occurs when the given argument type is invalid.
ItemNotFoundError	Occurs when no items were found.
MultipleItemFoundError	Occurs when several items were found.

NodePath

Bases: PathBase, Summarizable

A class that represents a path inside a node.

Node path is defined as subscription-publisher pair. subscribe-publish policies are defined as "message context"

callbacks: list[CallbackBase] | None property

Get callbacks.

Returns:

Type	Description
list[CallbackBase] | None	Callbacks in node path. None except for message context is callback chain.

message_context: MessageContext | None property

Get message context.

Returns:

Type	Description
MessageContext | None	message context for this node path.

node_name: str property

Get node name.

Returns:

Type	Description
str	Node name which contains this node path.

publish_topic_name: str | None property

Get a topic name to publish.

Returns:

Type	Description
str | None	topic name to publish.

publisher: Publisher | None property

Get publisher.

Returns:

Type	Description
Publisher | None	node path publisher.

publisher_construction_order: int | None property

Get a construction order of publisher.

Returns:

Type	Description
int | None	construction order of publisher.

subscribe_topic_name: str | None property

Get a topic name to subscribe to.

Returns:

Type	Description
str | None	topic name to subscribe to.

subscription: Subscription | None property

Get a subscription.

Returns:

Type	Description
Subscription | None	subscription to subscribe to.

subscription_construction_order: int | None property

Get a construction order of subscription.

Returns:

Type	Description
int | None	construction order of subscription.

summary: Summary property

Get summary [override].

Returns:

Type	Description
Summary	summary info.

value: NodePathStructValue property

Get StructValue object.

Returns:

Type	Description
NodePathStructValue	node path value.

Notes

This property is for CARET debugging purposes.

__init__(node_path_value, records_provider, subscription, publisher, callbacks)

Construct an instance.

Parameters:

Name	Type	Description	Default
node_path_value	NodePathStructValue	static info.	required
records_provider	RecordsProvider	provider to be evaluated.	required
subscription	Subscription | None	node path subscription	required
publisher	Publisher | None	node path publisher	required
callbacks	list[CallbackBase] | None	Callbacks in node path. Needed only if message context is CallbackChain.	required

to_path_beginning_records()

Calculate records from last callback to publish.

Returns:

Type	Description
RecordsInterface	Execution time of each operation.

to_path_end_records()

Calculate records from last callback_start to callback_end.

Returns:

Type	Description
RecordsInterface	Execution time of each operation.

Path

Bases: PathBase, Summarizable

A class that represents a path.

A single path is composed of node paths and communications.

callback_chain: list[CallbackBase] | None property

Get callback chain.

Returns:

Type	Description
list[CallbackBase] | None	callbacks that compose the path. return None except for all of the node paths are callback chains.

callbacks: list[CallbackBase] property

Get callbacks.

Returns:

Type	Description
list[CallbackBase]	callbacks in all nodes that comprise the node path.

child: list[NodePath | Communication] property

Get path children.

Returns:

Type	Description
list[NodePath | Communication]	node paths and communications in the target path. node paths and communications are alternately contained.

child_names: list[str] property

Get path children's names.

Returns:

Type	Description
list[str]	node names and topic names in the target path.

communications: list[Communication] property

Get communications.

Returns:

Type	Description
list[Communication]	Communications in target path.

node_names: list[str] property

Get node names.

Returns:

Type	Description
list[str]	node names in the target path.

node_paths: list[NodePath] property

Get node-paths.

Returns:

Type	Description
list[NodePath]	node paths in target path.

path_name: str | None property

Get path name.

Returns:

Type	Description
str | None	Path name defined in the architecture.

summary: Summary property

Get summary [override].

Returns:

Type	Description
Summary	summary info.

topic_names: list[str] property

Get topic names.

Returns:

Type	Description
list[str]	topic names in the target path.

value: PathStructValue property

Get StructValue object.

Returns:

Type	Description
PathStructValue	path value.

Notes

This property is for CARET debugging purposes.

__init__(path, child, callbacks, include_first_callback=False, include_last_callback=False)

Construct an instance.

Parameters:

Name	Type	Description	Default
path	PathStructValue	static info	required
child	list[NodePath | Communication]	path children's which compose path (node paths and communications).	required
callbacks	list[CallbackBase] | None	callbacks that compose the path. return None except for all of node paths are not callback-chain.	required
include_first_callback	bool	Flags for including the processing time of the first callback in the path analysis.	False
include_last_callback	bool	Flags for including the processing time of the last callback in the path analysis.	False

clear_cache()

Clear to_records/to_dataframe cache.

verify()

Verify whether the path can generate latencies.

Returns:

Type	Description
bool	True if both architecture and measurement results are valid, otherwise false.

PathBase

Base class for Latency.

column_names: list[str] property

Get column names.

Returns:

Type	Description
list[str]	column names

to_dataframe(remove_dropped=False, treat_drop_as_delay=False, lstrip_s=0, rstrip_s=0, *, shaper=None)

Calculate dataframe.

Parameters:

Name	Type	Description	Default
remove_dropped	bool	If true, eliminate the records that caused the drop.	False
treat_drop_as_delay	bool	Convert dropped records as a delay. Valid only when remove_dropped=false.	False
lstrip_s	float	Remove from beginning. [s]	0
rstrip_s	float	Remove from end [s]	0
shaper	DataFrameShaper | None	shaper	None

Returns:

Type	Description
DataFrame	Execution time of each operation.

to_histogram(binsize_ns=1000000, treat_drop_as_delay=False, lstrip_s=0, rstrip_s=0, *, shaper=None)

Calculate histogram data.

Parameters:

Name	Type	Description	Default
binsize_ns	int	bin size for histogram. default 1ms.	1000000
treat_drop_as_delay	bool	Convert dropped records as a delay.	False
lstrip_s	float	Remove from beginning. [s]	0
rstrip_s	float	Remove from end [s]	0
shaper	DataFrameShaper | None	shaper	None

Returns:

Type	Description
tuple[ndarray, ndarray]	frequency, latency[ns] len(frequency)+1 == len(latency)

See Also

https://numpy.org/doc/stable/reference/generated/numpy.histogram.html

to_records()

Calculate records.

Returns:

Type	Description
RecordsInterface	Execution time of each operation.

to_timeseries(remove_dropped=False, treat_drop_as_delay=False, lstrip_s=0, rstrip_s=0, *, shaper=None)

Calculate timeseries data.

Parameters:

Name	Type	Description	Default
remove_dropped	bool | None	If true, eliminate the records that caused the drop. default: False.	False
treat_drop_as_delay	bool | None	Convert dropped records as a delay. Valid only when remove_dropped=false. default: False.	False
lstrip_s	float	Remove from beginning. [s] default: 0	0
rstrip_s	float	Remove from end [s] default: 0	0
shaper	DataFrameShaper | None	shaper	None

Returns:

Type	Description
tuple[ndarray, ndarray]	time[ns], latency[ns] len(time) == len(latency)

Publisher

Bases: PathBase, Summarizable

Class that represents publisher.

callback_names: list[str] | None property

Get callback names.

Returns:

Type	Description
list[str] | None	Callback names which uses the publisher to publish.

construction_order: int property

Get a construction order.

Returns:

Type	Description
int	A construction order of this publisher.

node_name: str property

Get node name.

Returns:

Type	Description
str	node name which contains the publisher.

qos: Qos | None property

Get QoS.

Returns:

Type	Description
Qos | None	Publisher QoS

summary: Summary property

Get summary [override].

Returns:

Type	Description
Summary	summary info.

topic_name: str property

Get a topic name.

Returns:

Type	Description
str	A topic name that the publisher publishes.

value: PublisherStructValue property

Get StructValue object.

Returns:

Type	Description
PublisherStructValue	publisher value.

Notes

This property is for CARET debugging purposes.

__init__(publisher, provider)

Construct an instance.

Parameters:

Name	Type	Description	Default
publisher	PublisherStructValue	static info.	required
provider	RecordsProvider | RuntimeDataProvider	provider to be evaluated.	required

Subscription

Bases: PathBase, Summarizable

A class that represents subscription.

callback_name: str | None property

Get a subscription callback name.

Returns:

Type	Description
str | None	callback name to which the subscription is attached.

construction_order: int property

Get a construction order.

Returns:

Type	Description
int	A construction order of this subscription.

node_name: str property

Get node name.

Returns:

Type	Description
str	node name to which the subscription subscribes.

qos: Qos | None property

Get QoS.

Returns:

Type	Description
Qos | None	Subscription QoS.

summary: Summary property

Get summary [override].

Returns:

Type	Description
Summary	summary info.

topic_name: str property

Get a topic name.

Returns:

Type	Description
str	A topic name to which the subscription subscribes.

value: SubscriptionStructValue property

Get StructValue object.

Returns:

Type	Description
SubscriptionStructValue	subscription value.

Notes

This property is for CARET debugging purposes.

__init__(val, data_provider)

Construct an instance.

Parameters:

Name	Type	Description	Default
val	SubscriptionStructValue	static info.	required
data_provider	RecordsProvider | RuntimeDataProvider	provider to be evaluated.	required

SubscriptionCallback

Bases: CallbackBase

A class that represents subscription callback.

__init__(callback_info, records_provider, subscription, publishers=None)

Construct an instance.

Parameters:

Name	Type	Description	Default
callback_info	SubscriptionCallbackStructValue	static info.	required
records_provider	RecordsProvider	provider to be evaluated.	required
subscription	Subscription	subscription to which callback subscribes.	required
publishers	list[Publisher] | None	publishers to which the callback publishers	None

Timer

Bases: PathBase, Summarizable

A class that represents timer.

callback_name: str | None property

Get callback name.

Returns:

Type	Description
str | None	callback name defined in the architecture.

node_name: str property

Get node name.

Returns:

Type	Description
str	node name which defines the timer.

period_ns: int property

Get timer period.

Returns:

Type	Description
int	timer period [ns].

summary: Summary property

Get summary [override].

Returns:

Type	Description
Summary	summary info.

value: TimerStructValue property

Get StructValue object.

Returns:

Type	Description
TimerStructValue	timer value.

Notes

This property is for CARET debugging purposes.

__init__(val, data_provider)

Construct an instance.

Parameters:

Name	Type	Description	Default
val	TimerStructValue	static info.	required
data_provider	RecordsProvider | RuntimeDataProvider	provider to be evaluated.	required

TimerCallback

Bases: CallbackBase

Class that represents timer callback.

period_ns: int property

Get timer period.

Returns:

Type	Description
int	timer period [ns].

__init__(callback, records_provider, publishers, timer)

Construct an instance.

Parameters:

Name	Type	Description	Default
callback	TimerCallbackStructValue	static info.	required
records_provider	RecordsProvider	provider to be evaluated.	required
publishers	list[Publisher] | None	publishers to which the callback publishers	required
timer	Timer	timer	required

VariablePassing

Bases: PathBase, Summarizable

callback_name_read property

Get read side callback name.

Returns:

Type	Description
[str]	read-side callback name.

callback_name_write: str property

Get write side callback name.

Returns:

Type	Description
[str]	write-side callback name.

node_name: str property

Get node name.

Returns:

Type	Description
str	node name which has the variable passing.

summary: Summary property

Get summary [override].

Returns:

Type	Description
Summary	summary info.

value: VariablePassingStructValue property

Get StructValue object.

Returns:

Type	Description
VariablePassingStructValue	variable passing value.

Notes

This property is for CARET debugging purposes.

__init__(variable_passing, records_provider)

Construct an instance.

Parameters:

Name	Type	Description	Default
variable_passing	VariablePassingStructValue	static info.	required
records_provider	RecordsProvider	provider to be evaluated.	required