Refactored project structure; Caching util; process_clang_output.py provides Python API now

clang_interop/process_clang_output.py

@@ -3,13 +3,15 @@ import json
 import os
 import pickle
 import re
-from dataclasses import dataclass
+from typing import Tuple, Iterable
-from typing import Tuple, List, Literal, Iterable
 
 import numpy as np
 import pandas as pd
 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"
 SRC_DIR = "/home/max/Projects/autoware/src"
 
@@ -58,159 +60,10 @@ def fuse_objects(o1, o2):
     return o1
 
 
-@dataclass
+def find_data_deps(accesses: Iterable[ClMemberRef]):
-class SourceRange:
-    start_file: str
-    start_line: int | None
-    start_col: int | None
-
-    end_file: str
-    end_line: int | None
-    end_col: int | None
-
-    def __init__(self, json_obj):
-        begin = json_obj["begin"].split(":")
-        end = json_obj["end"].split(":")
-
-        self.start_file = os.path.realpath(begin[0])
-        self.start_line = int(begin[1]) if len(begin) > 1 else None
-        self.start_col = int(begin[2].split(" ")[0]) if len(begin) > 2 else None
-
-        self.end_file = os.path.realpath(end[0])
-        self.end_line = int(end[1]) if len(end) > 1 else None
-        self.end_col = int(end[2].split(" ")[0]) if len(end) > 2 else None
-
-    def __hash__(self):
-        return hash((self.start_file, self.start_line, self.start_col,
-                     self.end_file, self.end_line, self.end_col))
-
-
-@dataclass
-class Node:
-    id: int
-    qualified_name: str
-    source_range: 'SourceRange'
-    field_ids: List[int] | None
-    method_ids: List[int] | None
-
-    def __init__(self, json_obj):
-        self.id = json_obj['id']
-        self.qualified_name = json_obj['id']
-        self.source_range = SourceRange(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
-
-    def __hash__(self):
-        return hash(self.id)
-
-
-@dataclass
-class Method:
-    id: int
-    qualified_name: str
-    source_range: 'SourceRange'
-    return_type: str | None
-    parameter_types: List[str] | None
-
-    def __init__(self, json_obj):
-        self.id = json_obj['id']
-        self.qualified_name = json_obj['qualified_name']
-        self.source_range = SourceRange(json_obj['source_range'])
-        self.return_type = json_obj['signature']['return_type'] if 'signature' in json_obj else None
-        self.parameter_types = json_obj['signature']['parameter_types'] if 'signature' in json_obj else None
-
-    def __hash__(self):
-        return hash(self.id)
-
-
-@dataclass
-class Field:
-    id: int
-    qualified_name: str
-    source_range: 'SourceRange'
-
-    def __init__(self, json_obj):
-        self.id = json_obj['id']
-        self.qualified_name = json_obj['qualified_name']
-        self.source_range = SourceRange(json_obj['source_range'])
-
-    def __hash__(self):
-        return hash(self.id)
-
-
-@dataclass
-class MemberRef:
-    type: Literal["read", "write", "call", "arg", "pub"] | None
-    member_chain: List[int]
-    method_id: int | None
-    node_id: int | None
-    source_range: 'SourceRange'
-
-    def __init__(self, json_obj):
-        access_type = json_obj['context']['access_type']
-        if access_type == 'none':
-            access_type = None
-        self.type = access_type
-        self.member_chain = list(map(lambda obj: obj['id'], json_obj['member'][::-1]))
-        self.method_id = json_obj['context']['method']['id'] if 'method' in json_obj['context'] else None
-        self.node_id = json_obj['context']['node']['id'] if 'node' in json_obj['context'] else None
-        self.source_range = SourceRange(json_obj['context']['statement']['source_range'])
-
-    def __hash__(self):
-        return self.source_range.__hash__()
-
-
-@dataclass
-class Subscription:
-    topic: str | None
-    callback_id: int | None
-    source_range: 'SourceRange'
-
-    def __init__(self, json_obj):
-        self.topic = json_obj['topic'] if 'topic' in json_obj else None
-        self.callback_id = json_obj['callback']['id'] if 'callback' in json_obj else None
-        self.source_range = SourceRange(json_obj['source_range'])
-
-    def __hash__(self):
-        return self.source_range.__hash__()
-
-
-@dataclass
-class Publisher:
-    topic: str | None
-    member_id: int | None
-    source_range: 'SourceRange'
-
-    def update(self, t2: 'Timer'):
-        return self
-
-    def __init__(self, json_obj):
-        self.topic = json_obj['topic'] if 'topic' in json_obj else None
-        self.member_id = json_obj['member']['id'] if 'member' in json_obj else None
-        self.source_range = SourceRange(json_obj['source_range'])
-
-    def __hash__(self):
-        return self.source_range.__hash__()
-
-
-@dataclass
-class Timer:
-    callback_id: int | None
-    source_range: 'SourceRange'
-
-    def __init__(self, json_obj):
-        self.callback_id = json_obj['callback']['id'] if 'callback' in json_obj else None
-        self.source_range = SourceRange(json_obj['source_range'])
-
-    def __hash__(self):
-        return self.source_range.__hash__()
-
-
-def find_data_deps(nodes: Iterable[Node], pubs: Iterable[Publisher], subs: Iterable[Subscription],
-                   timers: Iterable[Timer], fields, methods, accesses: Iterable[MemberRef]):
     writes = set()
     reads = set()
-    publications = set()
+    publications = {}
 
     for member_ref in accesses:
         member_id = member_ref.member_chain[0] if member_ref.member_chain else None
@@ -229,7 +82,9 @@ def find_data_deps(nodes: Iterable[Node], pubs: Iterable[Publisher], subs: Itera
                 writes.add(dep_tuple)
                 reads.add(dep_tuple)
             case "pub":
-                publications.add(dep_tuple)
+                if member_ref.method_id not in publications:
+                    publications[member_ref.method_id] = set()
+                publications[member_ref.method_id].add(member_id)
 
     reads = pd.DataFrame.from_records(list(reads), columns=['method_id', 'member_id'])
     writes = pd.DataFrame.from_records(list(writes), columns=['method_id', 'member_id'])
@@ -250,7 +105,7 @@ def find_data_deps(nodes: Iterable[Node], pubs: Iterable[Publisher], subs: Itera
 
         deps[reading_method].discard(reading_method)  # Remove reflexive dependencies
 
-    return publications, deps
+    return deps, publications
 
 
 def dedup(elems):
@@ -274,6 +129,10 @@ def dedup(elems):
     return ret_list
 
 
+def dictify(elems, key='id'):
+    return {getattr(e, key): e for e in elems}
+
+
 def definitions_from_json(cb_dict):
     nodes = []
     pubs = []
@@ -285,35 +144,35 @@ def definitions_from_json(cb_dict):
 
     if "nodes" in cb_dict:
         for node in cb_dict["nodes"]:
-            nodes.append(Node(node))
+            nodes.append(ClNode(node))
             for field in node["fields"]:
-                fields.append(Field(field))
+                fields.append(ClField(field))
             for method in node["methods"]:
-                methods.append(Method(method))
+                methods.append(ClMethod(method))
 
     if "publishers" in cb_dict:
         for publisher in cb_dict["publishers"]:
-            pubs.append(Publisher(publisher))
+            pubs.append(ClPublisher(publisher))
 
     if "subscriptions" in cb_dict:
         for subscription in cb_dict["subscriptions"]:
-            subs.append(Subscription(subscription))
+            subs.append(ClSubscription(subscription))
 
     if "timers" in cb_dict:
         for timer in cb_dict["timers"]:
-            timers.append(Timer(timer))
+            timers.append(ClTimer(timer))
 
     if "accesses" in cb_dict:
         for access_type in cb_dict["accesses"]:
             for access in cb_dict["accesses"][access_type]:
-                accesses.append(MemberRef(access))
+                accesses.append(ClMemberRef(access))
 
-    nodes = dedup(nodes)
+    nodes = dictify(dedup(nodes))
-    pubs = dedup(pubs)
+    pubs = dictify(dedup(pubs), key='member_id')
-    subs = dedup(subs)
+    subs = dictify(dedup(subs), key='callback_id')
-    timers = dedup(timers)
+    timers = dictify(dedup(timers), key='callback_id')
-    fields = dedup(fields)
+    fields = dictify(dedup(fields))
-    methods = dedup(methods)
+    methods = dictify(dedup(methods))
 
     return nodes, pubs, subs, timers, fields, methods, accesses
 
@@ -341,7 +200,7 @@ def prompt_user(file: str, cb: str, idf: str, text: str) -> Tuple[str, bool, boo
     return answer, answer == "q", answer == "z"
 
 
-def main(nodes, cbs, fields, methods):
+def main(cbs):
     open_files = {}
     cb_rw_dict = {}
 
@@ -407,8 +266,8 @@ def main(nodes, cbs, fields, methods):
     print("Done.")
 
 
-if __name__ == "__main__":
+def process_clang_output(directory=IN_DIR):
-    out_dict = {}
+    clang_context = ClContext()
 
     for filename in os.listdir(IN_DIR):
         source_filename = SRC_FILE_NAME(filename)
@@ -418,22 +277,20 @@ if __name__ == "__main__":
             if cb_dict is None:
                 print(f"  [WARN ] Empty tool output detected in {filename}")
                 continue
-            definitions = definitions_from_json(cb_dict)
-            deps, publications = find_data_deps(*definitions)
 
-            (nodes, pubs, subs, timers, fields, methods, accesses) = definitions
+            nodes, pubs, subs, timers, fields, methods, accesses = definitions_from_json(cb_dict)
-            out_dict[source_filename] = {
+            deps, publications = find_data_deps(accesses)
-                    "dependencies": deps,
+
-                    "publications": publications,
+            tu = ClTranslationUnit(deps, publications, nodes, pubs, subs, timers, fields, methods, accesses)
-                    "nodes": nodes,
+            clang_context.translation_units[source_filename] = tu
-                    "publishers": pubs,
+
-                    "subscriptions": subs,
+    return clang_context
-                    "timers": timers,
+
-                    "fields": fields,
+
-                    "methods": methods
+if __name__ == "__main__":
-            }
+    clang_context = process_clang_output()
 
     with open(OUT_NAME, "wb") as f:
-        pickle.dump(out_dict, f)
+        pickle.dump(clang_context, f)
 
     print("Done.")

clang_interop/types.py

@@ -0,0 +1,173 @@
+import os
+from dataclasses import dataclass, field
+from typing import List, Literal, Dict, Set
+
+
+@dataclass
+class ClTranslationUnit:
+    dependencies: Dict[int, Set[int]]
+    publications: Dict[int, Set[int]]
+    nodes: Dict[int, 'ClNode']
+    publishers: Dict[int, 'ClPublisher']
+    subscriptions: Dict[int, 'ClSubscription']
+    timers: Dict[int, 'ClTimer']
+    fields: Dict[int, 'ClField']
+    methods: Dict[int, 'ClMethod']
+    accesses: List['ClMemberRef']
+
+
+@dataclass
+class ClContext:
+    translation_units: Dict[str, 'ClTranslationUnit'] = field(default_factory=dict)
+
+
+@dataclass
+class ClSourceRange:
+    start_file: str
+    start_line: int | None
+    start_col: int | None
+
+    end_file: str
+    end_line: int | None
+    end_col: int | None
+
+    def __init__(self, json_obj):
+        begin = json_obj["begin"].split(":")
+        end = json_obj["end"].split(":")
+
+        self.start_file = os.path.realpath(begin[0])
+        self.start_line = int(begin[1]) if len(begin) > 1 else None
+        self.start_col = int(begin[2].split(" ")[0]) if len(begin) > 2 else None
+
+        self.end_file = os.path.realpath(end[0])
+        self.end_line = int(end[1]) if len(end) > 1 else None
+        self.end_col = int(end[2].split(" ")[0]) if len(end) > 2 else None
+
+    def __hash__(self):
+        return hash((self.start_file, self.start_line, self.start_col,
+                     self.end_file, self.end_line, self.end_col))
+
+
+@dataclass
+class ClNode:
+    id: int
+    qualified_name: str
+    source_range: 'ClSourceRange'
+    field_ids: List[int] | None
+    method_ids: List[int] | None
+    ros_name: str | None
+    ros_namespace: str | None
+
+    def __init__(self, json_obj):
+        self.id = json_obj['id']
+        self.qualified_name = json_obj['id']
+        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
+        self.ros_name = json_obj['ros_name'] if 'ros_name' in json_obj else None
+        self.ros_namespace = json_obj['ros_namespace'] if 'ros_namespace' in json_obj else None
+
+    def __hash__(self):
+        return hash(self.id)
+
+
+@dataclass
+class ClMethod:
+    id: int
+    qualified_name: str
+    source_range: 'ClSourceRange'
+    return_type: str | None
+    parameter_types: List[str] | None
+
+    def __init__(self, json_obj):
+        self.id = json_obj['id']
+        self.qualified_name = json_obj['qualified_name']
+        self.source_range = ClSourceRange(json_obj['source_range'])
+        self.return_type = json_obj['signature']['return_type'] if 'signature' in json_obj else None
+        self.parameter_types = json_obj['signature']['parameter_types'] if 'signature' in json_obj else None
+
+    def __hash__(self):
+        return hash(self.id)
+
+
+@dataclass
+class ClField:
+    id: int
+    qualified_name: str
+    source_range: 'ClSourceRange'
+
+    def __init__(self, json_obj):
+        self.id = json_obj['id']
+        self.qualified_name = json_obj['qualified_name']
+        self.source_range = ClSourceRange(json_obj['source_range'])
+
+    def __hash__(self):
+        return hash(self.id)
+
+
+@dataclass
+class ClMemberRef:
+    type: Literal["read", "write", "call", "arg", "pub"] | None
+    member_chain: List[int]
+    method_id: int | None
+    node_id: int | None
+    source_range: 'ClSourceRange'
+
+    def __init__(self, json_obj):
+        access_type = json_obj['context']['access_type']
+        if access_type == 'none':
+            access_type = None
+        self.type = access_type
+        self.member_chain = list(map(lambda obj: obj['id'], json_obj['member'][::-1]))
+        self.method_id = json_obj['context']['method']['id'] if 'method' in json_obj['context'] else None
+        self.node_id = json_obj['context']['node']['id'] if 'node' in json_obj['context'] else None
+        self.source_range = ClSourceRange(json_obj['context']['statement']['source_range'])
+
+    def __hash__(self):
+        return self.source_range.__hash__()
+
+
+@dataclass
+class ClSubscription:
+    topic: str | None
+    callback_id: int | None
+    source_range: 'ClSourceRange'
+
+    def __init__(self, json_obj):
+        self.topic = json_obj['topic'] if 'topic' in json_obj else None
+        self.callback_id = json_obj['callback']['id'] if 'callback' in json_obj else None
+        self.source_range = ClSourceRange(json_obj['source_range'])
+
+    def __hash__(self):
+        return self.source_range.__hash__()
+
+
+@dataclass
+class ClPublisher:
+    topic: str | None
+    member_id: int | None
+    source_range: 'ClSourceRange'
+
+    def update(self, t2: 'ClTimer'):
+        return self
+
+    def __init__(self, json_obj):
+        self.topic = json_obj['topic'] if 'topic' in json_obj else None
+        self.member_id = json_obj['member']['id'] if 'member' in json_obj else None
+        self.source_range = ClSourceRange(json_obj['source_range'])
+
+    def __hash__(self):
+        return self.source_range.__hash__()
+
+
+@dataclass
+class ClTimer:
+    callback_id: int | None
+    source_range: 'ClSourceRange'
+
+    def __init__(self, json_obj):
+        self.callback_id = json_obj['callback']['id'] if 'callback' in json_obj else None
+        self.source_range = ClSourceRange(json_obj['source_range'])
+
+    def __hash__(self):
+        return self.source_range.__hash__()

misc/utils.py

@@ -0,0 +1,77 @@
+import base64
+import glob
+import hashlib
+import json
+import math
+import os
+import pickle
+import time
+from typing import List
+
+
+def left_abbreviate(string, limit=120):
+    return string if len(string) <= limit else f"...{string[:limit - 3]}"
+
+
+class ProgressPrinter:
+    def __init__(self, verb, n) -> None:
+        self.verb = verb
+        self.n = n
+        self.i = 0
+        self.fmt_len = math.ceil(math.log10(n if n > 0 else 1))
+
+    def step(self, msg):
+        self.i += 1
+        print(f"({self.i:>{self.fmt_len}d}/{self.n}) {self.verb} {left_abbreviate(msg):<120}", end="\r")
+
+    def __enter__(self):
+        return self
+
+    def __exit__(self, exc_type, exc_value, exc_traceback):
+        self.i -= 1
+
+        if exc_value:
+            self.step("error.")
+            print()
+            print(exc_value)
+            return
+
+        self.step("done.")
+        print()
+
+
+def stable_hash(obj):
+    return hashlib.md5(json.dumps(obj).encode("utf-8")).hexdigest()[:10]
+
+
+def cached(name, function, file_deps: List[str]):
+    if not os.path.isdir("cache"):
+        os.makedirs("cache", exist_ok=True)
+
+    dep_time = 0.0
+    for file in file_deps:
+        m_time = os.path.getmtime(file) if os.path.exists(file) else 0.
+        if m_time > dep_time:
+            dep_time = m_time
+
+    deps_hash = stable_hash(sorted(file_deps))
+    pkl_filename = f"cache/{name}_{deps_hash}.pkl"
+
+    pkl_time = os.path.getmtime(pkl_filename) if os.path.exists(pkl_filename) else 0.
+
+    if pkl_time > dep_time:
+        with open(pkl_filename, "rb") as f:
+            print(f"[CACHE] Found up-to-date cache entry for {name}, loading.")
+            return pickle.load(f)
+
+    if os.path.exists(pkl_filename):
+        print(f"[CACHE] Data dependencies for {name} changed, deleting cached version.")
+        os.remove(pkl_filename)
+
+    print(f"[CACHE] Creating cache entry for {name} (in {pkl_filename}).")
+    obj = function()
+
+    with open(pkl_filename, "wb") as f:
+        pickle.dump(obj, f)
+
+    return obj

tracing_interop/types.py

@@ -0,0 +1,339 @@
+from dataclasses import dataclass
+from functools import cached_property
+from typing import List, Dict
+
+import pandas as pd
+
+from tracetools_analysis.processor.ros2 import Ros2Handler
+from tracetools_analysis.utils.ros2 import Ros2DataModelUtil
+
+from .utils import list_to_dict, df_to_type_list
+
+
+@dataclass
+class TrContext:
+    nodes: Dict[int, 'TrNode']
+    publishers: Dict[int, 'TrPublisher']
+    subscriptions: Dict[int, 'TrSubscription']
+    timers: Dict[int, 'TrTimer']
+    timer_node_links: Dict[int, 'TrTimerNodeLink']
+    subscription_objects: Dict[int, 'TrSubscriptionObject']
+    callback_objects: Dict[int, 'TrCallbackObject']
+    callback_symbols: Dict[int, 'TrCallbackSymbol']
+    publish_instances: List['TrPublishInstance']
+    callback_instances: List['TrCallbackInstance']
+    topics: Dict[str, 'TrTopic']
+
+    util: Ros2DataModelUtil | None
+    handler: Ros2Handler | None
+
+    def __init__(self, util: Ros2DataModelUtil, handler: Ros2Handler):
+        self.util = util
+        self.handler = handler
+
+        print("[TrContext] Processing ROS 2 objects from traces...")
+
+        self.nodes = list_to_dict(df_to_type_list(handler.data.nodes, TrNode, _c=self))
+        print(f" ├─ Processed {len(self.nodes):<8d} nodes")
+        self.publishers = list_to_dict(df_to_type_list(handler.data.rcl_publishers, TrPublisher, _c=self))
+        print(f" ├─ Processed {len(self.publishers):<8d} publishers")
+        self.subscriptions = list_to_dict(df_to_type_list(handler.data.rcl_subscriptions, TrSubscription, _c=self))
+        print(f" ├─ Processed {len(self.subscriptions):<8d} subscriptions")
+        self.timers = list_to_dict(df_to_type_list(handler.data.timers, TrTimer, _c=self))
+        print(f" ├─ Processed {len(self.timers):<8d} timers")
+        self.timer_node_links = list_to_dict(df_to_type_list(handler.data.timer_node_links, TrTimerNodeLink))
+        print(f" ├─ Processed {len(self.timer_node_links):<8d} timer-node links")
+        self.subscription_objects = list_to_dict(
+            df_to_type_list(handler.data.subscription_objects, TrSubscriptionObject, _c=self))
+        print(f" ├─ Processed {len(self.subscription_objects):<8d} subscription objects")
+        self.callback_objects = list_to_dict(df_to_type_list(handler.data.callback_objects, TrCallbackObject, _c=self))
+        print(f" ├─ Processed {len(self.callback_objects):<8d} callback objects")
+        self.callback_symbols = list_to_dict(df_to_type_list(handler.data.callback_symbols, TrCallbackSymbol, _c=self))
+        print(f" ├─ Processed {len(self.callback_symbols):<8d} callback symbols")
+        self.publish_instances = df_to_type_list(handler.data.rcl_publish_instances, TrPublishInstance, _c=self)
+        print(f" ├─ Processed {len(self.publish_instances):<8d} publish instances")
+        self.callback_instances = df_to_type_list(handler.data.callback_instances, TrCallbackInstance, _c=self)
+        print(f" ├─ Processed {len(self.callback_instances):<8d} callback instances")
+
+        _unique_topic_names = {*(pub.topic_name for pub in self.publishers.values()),
+                               *(sub.topic_name for sub in self.subscriptions.values())}
+        self.topics = list_to_dict(map(lambda name: TrTopic(name=name, _c=self), _unique_topic_names), key="name")
+        print(f" └─ Processed {len(self.topics):<8d} topics\n")
+
+        print("[TrContext] Caching dynamic properties...")
+
+        [(o.path, o.publishers, o.subscriptions, o.timers) for o in self.nodes.values()]
+        print(" ├─ Cached node properties")
+        [(o.instances, o.subscriptions) for o in self.publishers.values()]
+        print(" ├─ Cached publisher properties")
+        [(o.publishers, o.subscription_objects) for o in self.subscriptions.values()]
+        print(" ├─ Cached subscription properties")
+        [(o.nodes) for o in self.timers.values()]
+        print(" ├─ Cached timer properties")
+        [(o.callback_instances, o.owner, o.owner_info) for o in self.callback_objects.values()]
+        print(" ├─ Cached callback object properties")
+        [(o.callback_objs) for o in self.callback_symbols.values()]
+        print(" ├─ Cached callback symbol properties")
+        [(o.publishers, o.subscriptions) for o in self.topics.values()]
+        print(" └─ Cached topic properties\n")
+
+    def __getstate__(self):
+        state = self.__dict__.copy()
+        del state["util"]
+        del state["handler"]
+        return state
+
+    def __setstate__(self, state):
+        self.__dict__.update(state)
+        self.util = None
+        self.handler = None
+
+
+@dataclass
+class TrNode:
+    id: int
+    timestamp: int
+    tid: int
+    rmw_handle: int
+    name: str
+    namespace: str
+    _c: TrContext
+
+    @cached_property
+    def path(self) -> str:
+        return '/'.join((self.namespace, self.name))
+
+    @cached_property
+    def publishers(self) -> List['TrPublisher']:
+        return list(filter(lambda pub: pub.node_handle == self.id, self._c.publishers.values()))
+
+    @cached_property
+    def subscriptions(self) -> List['TrSubscription']:
+        return list(filter(lambda sub: sub.node_handle == self.id, self._c.subscriptions.values()))
+
+    @cached_property
+    def timers(self) -> List['TrTimer']:
+        links = [link.id for link in self._c.timer_node_links.values() if link.node_handle == self.id]
+        return list(filter(lambda timer: timer.id in links, self._c.timers.values()))
+
+    def __hash__(self):
+        return hash(self.id)
+
+
+@dataclass
+class TrPublisher:
+    id: int
+    timestamp: int
+    node_handle: int
+    rmw_handle: int
+    topic_name: str
+    depth: int
+    _c: TrContext
+
+    @property
+    def node(self) -> 'TrNode':
+        return self._c.nodes[self.node_handle]
+
+    @cached_property
+    def subscriptions(self) -> List['TrSubscription']:
+        return list(filter(lambda sub: sub.topic_name == self.topic_name, self._c.subscriptions.values()))
+
+    @cached_property
+    def instances(self) -> List['TrPublishInstance']:
+        return list(filter(lambda inst: inst.publisher_handle == self.id, self._c.publish_instances))
+
+    @property
+    def topic(self) -> 'TrTopic':
+        return self._c.topics[self.topic_name]
+
+    def __hash__(self):
+        return hash(self.id)
+
+
+@dataclass
+class TrSubscription:
+    id: int
+    timestamp: int
+    node_handle: int
+    rmw_handle: int
+    topic_name: str
+    depth: int
+    _c: TrContext
+
+    @property
+    def node(self) -> 'TrNode':
+        return self._c.nodes[self.node_handle]
+
+    @cached_property
+    def publishers(self) -> List['TrPublisher']:
+        return list(filter(lambda pub: pub.topic_name == self.topic_name, self._c.publishers.values()))
+
+    @cached_property
+    def subscription_objects(self) -> List['TrSubscriptionObject']:
+        return list(
+                filter(lambda sub_obj: sub_obj.subscription_handle == self.id, self._c.subscription_objects.values()))
+
+    @property
+    def topic(self) -> 'TrTopic':
+        return self._c.topics[self.topic_name]
+
+    def __hash__(self):
+        return hash(self.id)
+
+
+@dataclass
+class TrTimer:
+    id: int
+    timestamp: int
+    period: int
+    tid: int
+    _c: TrContext
+
+    @cached_property
+    def nodes(self) -> List['TrNode']:
+        links = [link.node_handle for link in self._c.timer_node_links.values() if link.id == self.id]
+        return list(filter(lambda node: node.id in links, self._c.nodes.values()))
+
+    @property
+    def callback_object(self) -> 'TrCallbackObject':
+        return self._c.callback_objects[self.id]
+
+    def __hash__(self):
+        return hash(self.id)
+
+
+@dataclass
+class TrTimerNodeLink:
+    id: int
+    timestamp: int
+    node_handle: int
+
+
+@dataclass
+class TrSubscriptionObject:
+    id: int  # subscription
+    timestamp: int
+    subscription_handle: int
+    _c: TrContext
+
+    @property
+    def subscription(self) -> 'TrSubscription':
+        return self._c.subscriptions[self.subscription_handle]
+
+    @property
+    def callback_object(self) -> 'TrCallbackObject':
+        return self._c.callback_objects[self.id]
+
+    def __hash__(self):
+        return hash((self.id, self.timestamp, self.subscription_handle))
+
+
+@dataclass
+class TrCallbackObject:
+    id: int  # (reference) = subscription_object.id | timer.id | ....
+    timestamp: int
+    callback_object: int
+    _c: TrContext
+
+    @cached_property
+    def callback_instances(self) -> List['TrCallbackInstance']:
+        return list(filter(lambda inst: inst.callback_object == self.callback_object, self._c.callback_instances))
+
+    @property
+    def callback_symbol(self) -> 'TrCallbackSymbol':
+        return self._c.callback_symbols[self.id]
+
+    @cached_property
+    def owner(self):
+        if self.id in self._c.timers:
+            return self._c.timers[self.id]
+        if self.id in self._c.publishers:
+            return self._c.publishers[self.id]
+        if self.id in self._c.subscription_objects:
+            return self._c.subscription_objects[self.id]
+        if self.id in self._c.handler.data.services.index:
+            return 'Service'
+        if self.id in self._c.handler.data.clients.index:
+            return 'Client'
+        return None
+
+    @cached_property
+    def owner_info(self):
+        info = self._c.util.get_callback_owner_info(self.callback_object)
+        if info is None:
+            return None, None
+
+        type_name, dict_str = info.split(" -- ")
+        kv_strs = dict_str.split(", ")
+        info_dict = {k: v for k, v in map(lambda kv_str: kv_str.split(": ", maxsplit=1), kv_strs)}
+        return type_name, info_dict
+
+    def __hash__(self):
+        return hash((self.id, self.timestamp, self.callback_object))
+
+
+@dataclass
+class TrPublishInstance:
+    publisher_handle: int
+    timestamp: int
+    message: int
+    _c: TrContext
+
+    @property
+    def publisher(self) -> 'TrPublisher':
+        return self._c.publishers[self.publisher_handle]
+
+    def __hash__(self):
+        return hash((self.publisher_handle, self.timestamp, self.message))
+
+
+@dataclass
+class TrCallbackInstance:
+    callback_object: int
+    timestamp: pd.Timestamp
+    duration: pd.Timedelta
+    intra_process: bool
+    _c: TrContext
+
+    @property
+    def callback_obj(self) -> 'TrCallbackObject':
+        return self._c.callback_objects[self.callback_object]
+
+    def __hash__(self):
+        return hash((self.callback_object, self.timestamp, self.duration))
+
+
+@dataclass
+class TrCallbackSymbol:
+    id: int  # callback_object
+    timestamp: int
+    symbol: str
+    _c: TrContext
+
+    @cached_property
+    def callback_objs(self) -> List['TrCallbackObject']:
+        return list(filter(lambda cb_obj: cb_obj.callback_object == self.id, self._c.callback_objects.values()))
+
+    def __hash__(self):
+        return hash((self.id, self.timestamp, self.symbol))
+
+
+#######################################
+# Self-defined (not from ROS2DataModel)
+#######################################
+
+@dataclass
+class TrTopic:
+    name: str
+    _c: TrContext
+
+    @cached_property
+    def publishers(self) -> List['TrPublisher']:
+        return list(filter(lambda pub: pub.topic_name == self.name, self._c.publishers.values()))
+
+    @cached_property
+    def subscriptions(self) -> List['TrSubscription']:
+        return list(filter(lambda sub: sub.topic_name == self.name, self._c.subscriptions.values()))
+
+    def __hash__(self):
+        return hash(self.name)

tracing_interop/utils.py

@@ -0,0 +1,24 @@
+import sys
+
+import pandas as pd
+
+
+def row_to_type(row, type, has_idx, **type_kwargs):
+    return type(id=row.name, **row, **type_kwargs) if has_idx else type(**row, **type_kwargs)
+
+
+def df_to_type_list(df, type, **type_kwargs):
+    has_idx = not isinstance(df.index, pd.RangeIndex)
+    return [row_to_type(row, type, has_idx, **type_kwargs) for _, row in df.iterrows()]
+
+
+def by_index(df, index, type):
+    return df_to_type_list(df.loc[index], type)
+
+
+def by_column(df, column_name, column_val, type):
+    return df_to_type_list(df[df[column_name] == column_val], type)
+
+
+def list_to_dict(ls, key='id'):
+    return {getattr(item, key): item for item in ls}

utils.py

@@ -1,32 +0,0 @@
-import math
-
-
-def left_abbreviate(string, limit=120):
-    return string if len(string) <= limit else f"...{string[:limit-3]}"
-
-
-class ProgressPrinter:
-    def __init__(self, verb, n) -> None:
-        self.verb = verb
-        self.n = n
-        self.i = 0
-        self.fmt_len = math.ceil(math.log10(n if n > 0 else 1))
-
-    def step(self, msg):
-        self.i += 1
-        print(f"({self.i:>{self.fmt_len}d}/{self.n}) {self.verb} {left_abbreviate(msg):<120}", end="\r")
-
-    def __enter__(self):
-        return self
-
-    def __exit__(self, exc_type, exc_value, exc_traceback):
-        self.i -= 1
-
-        if exc_value:
-            self.step("error.")
-            print()
-            print(exc_value)
-            return
-        
-        self.step("done.")
-        print()