From 5885be5974ef5ed8fc85a2b5057a9e828e42abd0 Mon Sep 17 00:00:00 2001 From: Maximilian Schmeller Date: Wed, 20 Jul 2022 16:12:43 +0200 Subject: [PATCH] Node matching between tracing and clang works [WIP] --- clang_interop/process_clang_output.py | 5 +- clang_interop/types.py | 2 +- trace-analysis.ipynb | 2541 ++++++++++++++++++++++++- 3 files changed, 2521 insertions(+), 27 deletions(-) diff --git a/clang_interop/process_clang_output.py b/clang_interop/process_clang_output.py index a6ab91b..d554b51 100644 --- a/clang_interop/process_clang_output.py +++ b/clang_interop/process_clang_output.py @@ -12,7 +12,7 @@ import termcolor from clang_interop.types import ClNode, ClField, ClTimer, ClMethod, ClPublisher, ClSubscription, ClMemberRef, ClContext, \ ClTranslationUnit -IN_DIR = "/home/max/Projects/llvm-project/clang-tools-extra/ros2-internal-dependency-checker/output" +IN_DIR = "/home/max/Projects/ma-ros2-internal-dependency-analyzer/output" SRC_DIR = "/home/max/Projects/autoware/src" OUT_NAME = "clang_objects.pkl" @@ -88,9 +88,6 @@ def find_data_deps(accesses: Iterable[ClMemberRef]): reads = pd.DataFrame.from_records(list(reads), columns=['method_id', 'member_id']) writes = pd.DataFrame.from_records(list(writes), columns=['method_id', 'member_id']) - pub_dict = {method: set() for method, _ in publications} - for method, member in publications: - pub_dict[method].add(member) deps = {} diff --git a/clang_interop/types.py b/clang_interop/types.py index b75baf9..5eecc79 100644 --- a/clang_interop/types.py +++ b/clang_interop/types.py @@ -60,7 +60,7 @@ class ClNode: def __init__(self, json_obj): self.id = json_obj['id'] - self.qualified_name = json_obj['id'] + self.qualified_name = json_obj['qualified_name'] self.source_range = ClSourceRange(json_obj['source_range']) self.field_ids = list(map(lambda obj: obj['id'], json_obj['fields'])) if 'fields' in json_obj else None self.method_ids = list(map(lambda obj: obj['id'], json_obj['methods'])) if 'methods' in json_obj else None diff --git a/trace-analysis.ipynb b/trace-analysis.ipynb index 632c37b..69e05cd 100644 --- a/trace-analysis.ipynb +++ b/trace-analysis.ipynb @@ -62,11 +62,10 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 3, "metadata": { "pycharm": { - "name": "#%%\n", - "is_executing": true + "name": "#%%\n" } }, "outputs": [ @@ -74,19 +73,8 @@ "name": "stdout", "output_type": "stream", "text": [ - "[CACHE] Creating cache entry for tr_objects (in cache/tr_objects_c1e0d50b8d.pkl).\n", - "found converted file: /home/max/Downloads/autoware-trace/ust/converted\n", - " [100%] [Ros2Handler]\r\n", - "[TrContext] Processing ROS 2 objects from traces...\n", - " ├─ Processed 216 nodes\n", - " ├─ Processed 668 publishers\n", - " ├─ Processed 748 subscriptions\n", - " ├─ Processed 154 timers\n", - " ├─ Processed 69 timer-node links\n", - " ├─ Processed 824 subscription objects\n", - " ├─ Processed 1842 callback objects\n", - " ├─ Processed 1842 callback symbols\n", - " ├─ Processed 70808 publish instances\n" + "[CACHE] Found up-to-date cache entry for tr_objects, loading.\n", + "Done.\n" ] } ], @@ -614,8 +602,2290 @@ }, { "cell_type": "code", - "execution_count": null, - "outputs": [], + "execution_count": 4, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "[CACHE] Creating cache entry for cl_objects (in cache/cl_objects_7b616c9c48.pkl).\n", + "Processing /home/max/Projects/autoware/src/missing_packages/navigation2/nav2_behavior_tree/test/plugins/action/test_controller_selector_node.cpp\n", + " [WARN ] Empty tool output detected in missing_packages-navigation2-nav2_behavior_tree-test-plugins-action-test_controller_selector_node.json\n", + "Processing /home/max/Projects/autoware/src/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp\n", + "Fused 3 s\n", + "Fused 2 s\n", + "Fused 2 s\n", + "Fused 2 s\n", + "Fused 2 s\n", + "Fused 2 s\n", + "Fused 2 s\n", + "Fused 2 s\n", + "Fused 2 s\n", + "Fused 2 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"Fused 2 s\n", + "Fused 2 s\n", + "Fused 2 s\n", + "Fused 2 s\n", + "Fused 2 s\n", + "Fused 2 s\n", + "Fused 2 s\n", + "Fused 2 s\n", + "Fused 2 s\n", + "Fused 2 s\n", + "Fused 2 s\n", + "Fused 2 s\n", + "Fused 2 s\n", + "Fused 2 s\n", + "Fused 2 s\n", + "Fused 2 s\n", + "Fused 2 s\n" + ] + } + ], "source": [ "def _load_cl_objects():\n", " return process_clang_output(CL_PATH)\n", @@ -631,23 +2901,250 @@ }, { "cell_type": "code", - "execution_count": null, - "outputs": [], + "execution_count": 5, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "//launch_ros_1466825 None\n", + "//pointcloud_container None\n", + "//robot_state_publisher None\n", + "/system/system_monitor/system_monitor/system_monitor_container None\n", + "/system/system_monitor/cpu_monitor None\n", + "//aggregator_node None\n", + "/system/system_error_monitor None\n", + "/system/system_monitor/hdd_monitor None\n", + "/map/map_container None\n", + "/system/ad_service_state_monitor AutowareStateMonitorNode\n", + "/system/transform_listener_impl_aaab23389890 None\n", + "/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container None\n", + "/system/emergency_handler None\n", + "/system/system_monitor/mem_monitor None\n", + "/system/system_monitor/net_monitor None\n", + "/sensing/lidar/left/pointcloud_preprocessor/velodyne_node_container None\n", + "/map/lanelet2_map_loader Lanelet2MapLoaderNode\n", + "/sensing/lidar/right/pointcloud_preprocessor/velodyne_node_container None\n", + "/system/system_monitor/ntp_monitor None\n", + "/sensing/lidar/rear/pointcloud_preprocessor/velodyne_node_container None\n", + "/map/lanelet2_map_visualization Lanelet2MapVisualizationNode\n", + "/system/system_monitor/process_monitor None\n", + "/sensing/imu/imu_corrector None\n", + "/sensing/lidar/right/velodyne_convert_node None\n", + "/system/system_monitor/gpu_monitor None\n", + "/localization/twist_estimator/vehicle_velocity_converter_node None\n", + "/sensing/gnss/gnss_poser None\n", + "/sensing/gnss/transform_listener_impl_aaaae7eca970 None\n", + "/localization/pose_twist_fusion_filter/stop_filter None\n", + "/sensing/lidar/rear/velodyne_convert_node None\n", + "/map/pointcloud_map_loader PointCloudMapLoaderNode\n", + "/sensing/lidar/top/velodyne_convert_node None\n", + "/localization/localization_error_monitor LocalizationErrorMonitor\n", + "/localization/util/pose_initializer None\n", + "/localization/util/transform_listener_impl_aaab1061ada0 None\n", + "/map/map_tf_generator None\n", + "/perception/object_recognition/detection/apollo/shape_estimation ShapeEstimationNode\n", + "/sensing/lidar/left/velodyne_convert_node None\n", + "/perception/occupancy_grid_map/occupancy_grid_map_container None\n", + "/perception/object_recognition/detection/detection_by_tracker/initial_cluster_shape_estimation None\n", + "/localization/twist_estimator/gyro_odometer None\n", + "/localization/twist_estimator/transform_listener_impl_aaaad13f85a8 None\n", + "/localization/pose_twist_fusion_filter/ekf_localizer None\n", + "/perception/object_recognition/detection/clustering/euclidean_cluster_container None\n", + "/perception/occupancy_grid_map/occupancy_grid_map_node None\n", + "/perception/occupancy_grid_map/transform_listener_impl_ffff4c078050 None\n", + "/perception/object_recognition/detection/voxel_based_compare_map_filter None\n", + "//transform_listener_impl_ffff305f6d70 None\n", + "/perception/object_recognition/detection/object_association_merger_edgar_sim_stable_1466825_8039539255778196589 None\n", + "/perception/object_recognition/detection/transform_listener_impl_aaab13785ba8 None\n", + "/perception/obstacle_segmentation/common_ground_filter None\n", + "/perception/object_recognition/detection/apollo/detected_object_feature_remover None\n", + "//transform_listener_impl_fffee0068280 None\n", + "//transform_listener_impl_fffee000a798 None\n", + "/perception/object_recognition/tracking/multi_object_tracker None\n", + "/perception/obstacle_segmentation/occupancy_grid_map_outlier_filter None\n", + "/perception/object_recognition/tracking/transform_listener_impl_aaaafd450638 None\n", + "//transform_listener_impl_ffff38054c10 None\n", + "/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker_node None\n", + "/planning/scenario_planning/external_velocity_limit_selector ExternalVelocityLimitSelectorNode\n", + "/perception/object_recognition/prediction/map_based_prediction map_based_prediction::MapBasedPredictionNode\n", + "/perception/object_recognition/detection/detection_by_tracker/transform_listener_impl_aaaae6a40478 None\n", + "/perception/object_recognition/detection/apollo/lidar_apollo_instance_segmentation None\n", + "/perception/object_recognition/prediction/transform_listener_impl_aaaae0a54950 None\n", + "/perception/traffic_light_recognition/traffic_light_node_container None\n", + "/perception/object_recognition/detection/apollo/transform_listener_impl_aaab206dd058 None\n", + "/planning/scenario_planning/motion_velocity_smoother motion_velocity_smoother::MotionVelocitySmootherNode\n", + "/perception/traffic_light_recognition/traffic_light_map_based_detector traffic_light::MapBasedDetector\n", + "/perception/object_recognition/detection/obstacle_pointcloud_based_validator_node None\n", + "/planning/scenario_planning/transform_listener_impl_aaab0e68d7a0 None\n", + "/perception/traffic_light_recognition/transform_listener_impl_aaaae4b65338 None\n", + "/perception/object_recognition/detection/transform_listener_impl_aaaad385b6f8 None\n", + "/planning/scenario_planning/lane_driving/behavior_planning/behavior_planning_container None\n", + "/planning/mission_planning/mission_planning_container None\n", + "/perception/traffic_light_recognition/traffic_light_map_visualizer None\n", + "/planning/scenario_planning/scenario_selector ScenarioSelectorNode\n", + "/planning/scenario_planning/transform_listener_impl_aaaafa63fcb8 None\n", + "/planning/planning_diagnostics/planning_error_monitor planning_diagnostics::PlanningErrorMonitorNode\n", + "/awapi/awapi_relay_container None\n", + "/planning/scenario_planning/parking/parking_container None\n", + "/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_approver None\n", + "/control/control_container None\n", + "/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container None\n", + "/sensing/lidar/rear/crop_box_filter_self None\n", + "/autoware_api/internal/initial_pose_2d None\n", + "/sensing/lidar/rear/pointcloud_preprocessor/transform_listener_impl_aaaaea9e1c20 None\n", + "/autoware_api/internal/crosswalk_states None\n", + "/autoware_api/internal/autoware_iv_adaptor None\n", + "/autoware_api/external/autoware_iv_adaptor None\n", + "/sensing/lidar/rear/crop_box_filter_mirror None\n", + "/sensing/lidar/rear/pointcloud_preprocessor/transform_listener_impl_aaaaeaa76000 None\n", + "/autoware_api/internal/intersection_states None\n", + "/sensing/lidar/rear/velodyne_interpolate_node None\n", + "/localization/pose_estimator/ndt_scan_matcher None\n", + "/sensing/lidar/rear/pointcloud_preprocessor/transform_listener_impl_aaaaea988030 None\n", + "/awapi/awapi_awiv_adapter_node None\n", + "/sensing/lidar/rear/ring_outlier_filter None\n", + "/localization/pose_estimator/transform_listener_impl_aaaab8dd4448 None\n", + "/awapi/transform_listener_impl_aaaae22a8c38 None\n", + "/localization/util/crop_box_filter_measurement_range None\n", + "/autoware_api/internal/traffic_signals None\n", + "/sensing/lidar/rear/pointcloud_preprocessor/transform_listener_impl_aaaaeab85f10 None\n", + "/awapi/route_relay None\n", + "/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner ObstacleAvoidancePlanner\n", + "/sensing/lidar/left/crop_box_filter_self None\n", + "/awapi/predict_object_relay None\n", + "/sensing/lidar/right/crop_box_filter_self None\n", + "/sensing/lidar/top/pointcloud_preprocessor/transform_listener_impl_fffefc5dc390 None\n", + "/sensing/lidar/left/pointcloud_preprocessor/transform_listener_impl_aaaafe9502f0 None\n", + "/control/trajectory_follower/longitudinal_controller_node_exe None\n", + "/sensing/lidar/right/pointcloud_preprocessor/transform_listener_impl_aaaacfe628e0 None\n", + "/planning/mission_planning/mission_planner None\n", + "/sensing/lidar/top/crop_box_filter_self None\n", + "/awapi/nearest_traffic_signal_relay None\n", + "/sensing/lidar/left/crop_box_filter_mirror None\n", + "/sensing/lidar/right/crop_box_filter_mirror None\n", + "/planning/scenario_planning/lane_driving/motion_planning/transform_listener_impl_ffff6409e150 None\n", + "/autoware_api/internal/initial_pose None\n", + "/control/transform_listener_impl_aaaae83d9e30 None\n", + "/sensing/lidar/left/pointcloud_preprocessor/transform_listener_impl_aaaafe9ea7e0 None\n", + "/sensing/lidar/right/pointcloud_preprocessor/transform_listener_impl_aaaacff0f600 None\n", + "/awapi/ready_module_relay None\n", + "/planning/mission_planning/transform_listener_impl_aaab0697dcc0 None\n", + "/sensing/lidar/top/pointcloud_preprocessor/transform_listener_impl_fffee006b030 None\n", + "/sensing/lidar/right/velodyne_interpolate_node None\n", + "/localization/util/voxel_grid_downsample_filter None\n", + "/autoware_api/internal/iv_msgs None\n", + "/sensing/lidar/left/velodyne_interpolate_node None\n", + "/awapi/force_available_relay None\n", + "/sensing/lidar/right/pointcloud_preprocessor/transform_listener_impl_aaaacfebd400 None\n", + "/sensing/lidar/left/pointcloud_preprocessor/transform_listener_impl_aaaafe8ebe50 None\n", + "/sensing/lidar/right/ring_outlier_filter None\n", + "/awapi/running_modules_relay None\n", + "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner behavior_path_planner::BehaviorPathPlannerNode\n", + "/sensing/lidar/left/ring_outlier_filter None\n", + "/sensing/lidar/right/pointcloud_preprocessor/transform_listener_impl_aaaad0054750 None\n", + "/control/external_cmd_selector ExternalCmdSelector\n", + "/planning/scenario_planning/lane_driving/behavior_planning/transform_listener_impl_ffff400cb1c0 None\n", + "/sensing/lidar/left/pointcloud_preprocessor/transform_listener_impl_aaaafeb1d2e0 None\n", + "/autoware_api/external/cpu_usage None\n", + "/autoware_api/internal/operator None\n", + "/sensing/lidar/top/pointcloud_preprocessor/transform_listener_impl_ffff140694b0 None\n", + "/sensing/lidar/top/crop_box_filter_mirror None\n", + "/awapi/autoware_engage_relay None\n", + "/perception/traffic_light_recognition/traffic_light_ssd_fine_detector None\n", + "/planning/scenario_planning/parking/costmap_generator CostmapGenerator\n", + "/autoware_api/external/diagnostics None\n", + "/control/external_cmd_converter external_cmd_converter::ExternalCmdConverterNode\n", + "/autoware_api/internal/route None\n", + "/awapi/vehicle_engage_relay None\n", + "/planning/scenario_planning/parking/transform_listener_impl_aaab03fa1058 None\n", + "/autoware_api/internal/velocity None\n", + "/sensing/lidar/top/pointcloud_preprocessor/transform_listener_impl_ffff2005c060 None\n", + "/awapi/put_route_relay None\n", + "/localization/util/random_downsample_filter None\n", + "/planning/mission_planning/goal_pose_visualizer None\n", + "/map/map_hash_generator None\n", + "/control/trajectory_follower/lateral_controller_node_exe None\n", + "/sensing/lidar/top/pointcloud_preprocessor/transform_listener_impl_ffff140f8f90 None\n", + "/awapi/put_goal_relay None\n", + "/sensing/lidar/top/velodyne_interpolate_node None\n", + "/autoware_api/external/door None\n", + "/perception/object_recognition/detection/clustering/outlier_filter None\n", + "/control/transform_listener_impl_aaaae85e7a30 None\n", + "/control/trajectory_follower/latlon_muxer_node_exe None\n", + "/awapi/lane_change_approval_relay None\n", + "/autoware_api/external/emergency None\n", + "/sensing/lidar/top/pointcloud_preprocessor/transform_listener_impl_ffff44007d40 None\n", + "/awapi/force_lane_change_relay None\n", + "/perception/object_recognition/detection/clustering/transform_listener_impl_aaaae8bc5300 None\n", + "/perception/object_recognition/detection/clustering/voxel_grid_filter_edgar_sim_stable_1466825_1597630548661680678 None\n", + "/sensing/lidar/top/ring_outlier_filter None\n", + "/autoware_api/external/engage None\n", + "/awapi/external_approval_relay None\n", + "/control/trajectory_follower/lane_departure_checker_node lane_departure_checker::LaneDepartureCheckerNode\n", + "/awapi/force_approval_relay None\n", + "//rosapi None\n", + "/control/transform_listener_impl_aaaae879d3f0 None\n", + "/sensing/lidar/top/pointcloud_preprocessor/transform_listener_impl_ffff2406e400 None\n", + "/perception/object_recognition/detection/clustering/transform_listener_impl_aaaae8c656c0 None\n", + "/autoware_api/external/fail_safe_state None\n", + "/perception/object_recognition/detection/clustering/euclidean_cluster None\n", + "//rosapi_params None\n", + "/awapi/obstacle_avoid_approval_relay None\n", + "/autoware_api/external/initial_pose None\n", + "//_ros2cli_1467000 None\n", + "/awapi/traffic_signal_relay None\n", + "/autoware_api/external/map None\n", + "/autoware_api/external/operator None\n", + "/awapi/overwrite_traffic_signals_relay None\n", + "/autoware_api/external/metadata_packages None\n", + "/awapi/speed_exceeded_relay None\n", + "/autoware_api/external/route None\n", + "/awapi/crosswalk_status_relay None\n", + "//rosbridge_websocket None\n", + "/autoware_api/external/service None\n", + "/awapi/intersection_status_relay None\n", + "/autoware_api/external/start None\n", + "/awapi/expand_stop_range_relay None\n", + "/autoware_api/external/vehicle_status None\n", + "/awapi/pose_initialization_request_relay None\n", + "/autoware_api/external/velocity None\n", + "/autoware_api/external/version None\n", + "/perception/traffic_light_recognition/traffic_light_image_decompressor None\n", + "/perception/traffic_light_recognition/traffic_light_classifier None\n", + "/perception/traffic_light_recognition/traffic_light_roi_visualizer None\n", + "//rosbag2_player None\n", + "/planning/scenario_planning/parking/freespace_planner freespace_planner::FreespacePlannerNode\n", + "/planning/scenario_planning/parking/transform_listener_impl_aaab0443e0c0 None\n", + "/control/shift_decider None\n", + "/control/vehicle_cmd_gate None\n", + "/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker None\n", + "/planning/scenario_planning/lane_driving/motion_planning/transform_listener_impl_ffff4000d8a8 None\n", + "/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner motion_planning::ObstacleStopPlannerNode\n", + "/planning/scenario_planning/lane_driving/motion_planning/transform_listener_impl_ffff0c014730 None\n", + "/localization/pose_twist_fusion_filter/transform_listener_impl_ffffdd3a8138 None\n" + ] + } + ], "source": [ "#################################################\n", "# Match nodes\n", "#################################################\n", "\n", "node_map = {}\n", - "for node in nodes:\n", + "for node in nodes.values():\n", " node: TrNode\n", " for tu_path, tu in _cl_context.translation_units.items():\n", " for cl_node in tu.nodes.values():\n", " if node.name == cl_node.ros_name:\n", " if node in node_map:\n", - " print(f\"[WARN ] Node already mapped: {node} -> {node_map[node]}\")\n", + " print(f\"[WARN ] Node already mapped: {node.path} -> {node_map[node].qualified_name}\")\n", " node_map[node] = cl_node\n", "\n", + "for n1 in nodes.values():\n", + " n2 = node_map[n1].qualified_name if n1 in node_map else None\n", + " print(n1.path, n2)\n", + "\n", "#################################################\n", "# Match subscriptions\n", "#################################################\n",