initial xlink throughput statistics impllementation, have to glow it …

…up a bit and maybe clean up the code

crates/re_log_types/src/component_types/xlink_stats.rs

@@ -3,9 +3,13 @@ use arrow2::array::Int128Array;
 use arrow2_convert::{field::I128, ArrowDeserialize, ArrowField, ArrowSerialize};
 
 // TODO(filip): Convert to use i128
+
+/// Stats about the XLink connection throughput
 #[derive(Clone, Debug, PartialEq, ArrowField, ArrowSerialize, ArrowDeserialize)]
 pub struct XlinkStats {
+    /// Bytes read from the XLink by the host (PC)
     pub bytes_read: i64,
+    /// Bytes written to the XLink by the host (PC)
     pub bytes_written: i64,
 }
 

crates/re_viewer/src/ui/stats_panel.rs

@@ -54,7 +54,8 @@ pub struct StatsPanelState {
     magnetometer_history: History<[f32; 3]>,
     start_time: instant::Instant, // Time elapsed from spawning the app
     imu_tab_visible: bool,        // Used to subscribe and unsubscribe from the IMU data
-    xlink_stats_history: History<[i64; 2]>,
+    xlink_stats_history: History<[f64; 4]>, // [MB written in last time frame, MB read in last time frame, MB written total, MB read total]
+    avg_xlink_stats_plot_history: History<[f64; 2]>, // [Avg MB written, Avg MB read]
 }
 
 impl Default for StatsPanelState {
@@ -66,7 +67,8 @@ impl Default for StatsPanelState {
             magnetometer_history: History::new(0..1000, 5.0),
             start_time: instant::Instant::now(),
             imu_tab_visible: false,
-            xlink_stats_history: History::new(0..1000, 5.0),
+            xlink_stats_history: History::new(0..1000, 1.0),
+            avg_xlink_stats_plot_history: History::new(0..1000, 5.0),
         }
     }
 }
@@ -87,7 +89,7 @@ impl StatsPanelState {
             imu_entity_path,
             &[ImuData::name()],
         ) {
-            latest.visit1(|_inst, imu_data| {
+            let _ = latest.visit1(|_inst, imu_data| {
                 self.accel_history
                     .add(now, [imu_data.accel.x, imu_data.accel.y, imu_data.accel.z]);
                 self.gyro_history
@@ -108,9 +110,42 @@ impl StatsPanelState {
             entity_path,
             &[XlinkStats::name()],
         ) {
-            latest.visit1(|_inst, xlink_stats| {
-                self.xlink_stats_history
-                    .add(now, [xlink_stats.bytes_written, xlink_stats.bytes_read]);
+            let _ = latest.visit1(|_inst, xlink_stats| {
+                let (mut written, mut read) = (
+                    (xlink_stats.bytes_written / 1e6 as i64) as f64,
+                    (xlink_stats.bytes_read / 1e6 as i64) as f64,
+                );
+                if let Some((time, [_, _, total_written, total_read])) =
+                    self.xlink_stats_history.iter().last()
+                {
+                    written = (written - total_written) / (now - time);
+                    read = (read - total_read) / (now - time);
+                }
+
+                self.xlink_stats_history.add(
+                    now,
+                    [
+                        written,
+                        read,
+                        (xlink_stats.bytes_written / 1e6 as i64) as f64,
+                        (xlink_stats.bytes_read / 1e6 as i64) as f64,
+                    ],
+                );
+                self.avg_xlink_stats_plot_history.add(
+                    now,
+                    [
+                        self.xlink_stats_history
+                            .iter()
+                            .map(|(_, [written, _, _, _])| written)
+                            .sum::<f64>()
+                            / self.xlink_stats_history.len() as f64,
+                        self.xlink_stats_history
+                            .iter()
+                            .map(|(_, [_, read, _, _])| read)
+                            .sum::<f64>()
+                            / self.xlink_stats_history.len() as f64,
+                    ],
+                );
             });
         }
     }
@@ -170,30 +205,28 @@ impl<'a, 'b> StatsTabs<'a, 'b> {
     fn xlink_ui(&mut self, ui: &mut egui::Ui) {
         ui.vertical(|ui| {
             let max_width = ui.available_width();
-            let (history, display_name, unit) = (&mut self.state.xlink_stats_history, "Xlink", "");
+            let (history, display_name, unit) =
+                (&mut self.state.avg_xlink_stats_plot_history, "Xlink", "");
             let Some(latest) = history.latest() else {
                 ui.label(format!("No {display_name} data yet"));
                 return;
             };
             ui.label(display_name);
-            let mut plot = Plot::new(display_name).show(ui, |plot_ui| {
+            Plot::new(display_name).show(ui, |plot_ui| {
                 plot_ui.line(
                     Line::new(PlotPoints::new(
                         history
                             .iter()
-                            .map(|(t, v)| [t, v[0] as f64 / 1e6])
+                            .map(|(t, [written, _])| [t, written])
                             .collect_vec(),
                     ))
-                    .color(egui::Color32::RED),
+                    .color(egui::Color32::BLUE),
                 );
                 plot_ui.line(
                     Line::new(PlotPoints::new(
-                        history
-                            .iter()
-                            .map(|(t, v)| [t, v[1] as f64 / 1e6])
-                            .collect_vec(),
+                        history.iter().map(|(t, [_, read])| [t, read]).collect_vec(),
                     ))
-                    .color(egui::Color32::BLUE),
+                    .color(egui::Color32::RED),
                 );
             });
         });

crates/re_viewer/src/ui/viewport.rs

@@ -564,6 +564,8 @@ fn visibility_button_ui(
 
 // ----------------------------------------------------------------------------
 
+struct ViewportView {}
+
 struct TabViewer<'a, 'b> {
     ctx: &'a mut ViewerContext<'b>,
     viewport: &'a mut Viewport,

rerun_py/pyproject.toml

@@ -8,8 +8,8 @@ dependencies = [
   "numpy>=1.23",
   "pyarrow==10.0.1",
   "ahrs",
-  "depthai==2.21.2.0",  # Atm python3 -m pip install --extra-index-url https://artifacts.luxonis.com/artifactory/luxonis-python-snapshot-local/ depthai==2.21.2.0.dev0+5004cc71950e6786feb36147b7919e146f4ef8da --force-reinstall # is required
-  "depthai-sdk==1.9.5", # Atm latest develop is required
+  # "depthai==2.21.2.0",  # Atm python3 -m pip install --extra-index-url https://artifacts.luxonis.com/artifactory/luxonis-python-snapshot-local/ depthai==2.21.2.0.dev0+5004cc71950e6786feb36147b7919e146f4ef8da --force-reinstall # is required
+  # "depthai-sdk==1.9.5", # Atm latest develop is required
   "websockets",
   "pydantic",
 ]

rerun_py/rerun_sdk/depthai_viewer_backend/back.py

@@ -43,6 +43,7 @@ class SelectedDevice:
     intrinsic_matrix: Dict[Tuple[int, int], np.ndarray] = {}
     calibration_data: dai.CalibrationHandler = None
     use_encoding: bool = False
+    _time_of_last_xlink_update: int = 0
 
     _color: CameraComponent = None
     _left: CameraComponent = None
@@ -211,6 +212,19 @@ def update_pipeline(
             self.intrinsic_matrix = {}
         return running, {"message": "Pipeline started" if running else "Couldn't start pipeline"}
 
+    def update(self):
+        self.oak_cam.poll()
+        if time.time_ns() - self._time_of_last_xlink_update >= 16e6:
+            self._time_of_last_xlink_update = time.time_ns()
+            xlink_stats = self.oak_cam.device.getProfilingData()
+            rr.log_xlink_stats(xlink_stats.numBytesWritten, xlink_stats.numBytesRead)
+
+
+import rerun as rr
+
+rr.init("Depthai Viewer")
+rr.connect()
+
 
 class DepthaiViewerBack:
     _device: SelectedDevice = None
@@ -302,8 +316,7 @@ def run(self):
                 pass
 
             if self._device and self._device.oak_cam:
-                self._device.oak_cam.poll()
-
+                self._device.update()
                 if self._device.oak_cam.device.isClosed():
                     # TODO(filip): Typehint the messages properly
                     self.on_reset()

rerun_py/rerun_sdk/depthai_viewer_backend/sdk_callbacks.py

@@ -82,7 +82,6 @@ def on_color_frame(self, frame: FramePacket):
             EntityPath.RGB_PINHOLE_CAMERA, child_from_parent=self._get_camera_intrinsics(w, h), width=w, height=h
         )
         rr.log_image(EntityPath.RGB_CAMERA_IMAGE, cv2.cvtColor(frame.frame, cv2.COLOR_BGR2RGB))
-        rr.log_xlink_stats(1,1)
 
     def on_left_frame(self, frame: FramePacket):
         if Topic.LeftMono not in self.store.subscriptions:

rerun_py/rerun_sdk/rerun/log/xlink_stats.py

@@ -9,18 +9,16 @@
 
 
 @log_decorator
-def log_xlink_stats(
-    total_bytes_written: int, total_bytes_read: int
-) -> None:
+def log_xlink_stats(total_bytes_written: int, total_bytes_read: int) -> None:
     """
     Log an XLink throughput statistic.
 
     Parameters
     ----------
     total_bytes_written:
-        Total bytes written by the device to the XLink.
+        Total bytes written to the XLink by the host.
     total_bytes_read:
-        Total bytes read by the device from the XLink.
+        Total bytes read from the XLink by the host.
     """
     instanced: Dict[str, Any] = {}
     instanced["rerun.xlink_stats"] = XLinkStats.create(total_bytes_written, total_bytes_read)  # type: ignore[arg-type]