Merge branch '85-add-api-documentation' into 'master'

Add API documentation for tracetools & tracetools_test

Closes #57 and #85

See merge request micro-ROS/ros_tracing/ros2_tracing!175

.gitlab-ci.yml

@@ -69,3 +69,11 @@ coverage:
     - colcon coveragepy-result --packages-select $PACKAGES_LIST --verbose --coverage-report-args -m
   allow_failure: true
   <<: *global_artifacts
+
+trigger_gen_docs:
+  stage: report
+  only:
+    refs:
+      - master
+      - foxy
+  trigger: micro-ROS/ros_tracing/ros2_tracing-api

README.md

@@ -74,6 +74,8 @@ Library to support instrumenting ROS packages, including core packages.
 
 This package claims to be in the **Quality Level 3** category, see the [Quality Declaration](./tracetools/QUALITY_DECLARATION.md) for more details.
 
+See the [API documentation](https://micro-ros.gitlab.io/ros_tracing/ros2_tracing-api/).
+
 ### tracetools_launch
 
 Package containing tools to enable tracing through launch files.

tracetools/.gitignore

@@ -0,0 +1 @@
+doc_output/

tracetools/Doxyfile

@@ -0,0 +1,32 @@
+# All settings not listed here will use the Doxygen default values.
+# To use, see: https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing-api
+
+PROJECT_NAME           = "tracetools"
+PROJECT_NUMBER         = $(PROJECT_NUMBER)
+PROJECT_BRIEF          = "Tracing tools and instrumentation for ROS 2"
+
+INPUT                  = ./include
+
+RECURSIVE              = YES
+OUTPUT_DIRECTORY       = doc_output
+
+EXTRACT_ALL            = YES
+SORT_MEMBER_DOCS       = NO
+
+GENERATE_LATEX         = NO
+
+ENABLE_PREPROCESSING   = YES
+MACRO_EXPANSION        = YES
+EXPAND_ONLY_PREDEF     = NO
+PREDEFINED             = \
+    "TRACETOOLS_PUBLIC="
+
+EXCLUDE_SYMBOLS        = \
+    "DECLARE_TRACEPOINT" \
+    "_demangle_symbol" \
+    "_get_symbol_funcptr"
+
+# Tag files that do not exist will produce a warning and cross-project linking will not work.
+TAGFILES += "../../../data/cppreference-doxygen-web.tag.xml=http://en.cppreference.com/w/"
+# Uncomment to generate tag files for cross-project linking.
+GENERATE_TAGFILE = "../../../data/tracetools.tag"

tracetools/QUALITY_DECLARATION.md

@@ -73,7 +73,9 @@ It does not currently have a features list with links to the corresponding featu
 
 ### Public API Documentation [3.ii]
 
-`tracetools` does not currently have documentation for its public API.
+`tracetools` has embedded API documentation which can be generated using doxygen. The latest version can be viewed [here](https://micro-ros.gitlab.io/ros_tracing/ros2_tracing-api/).
+
+New additions to the public API require documentation before being added.
 
 ### License [3.iii]
 
@@ -175,7 +177,7 @@ The table below compares the requirements in REP-2004 with the current state of
 |2.v| Documentation policy for change requests | ✓ |
 |3| **Documentation** ||
 |3.i| Per feature documentation | ✓ |
-|3.ii| Public API documentation |  |
+|3.ii| Public API documentation | ✓ |
 |3.iii| Declared license(s) | ✓ |
 |3.iv| Copyright in source files | ✓ |
 |3.v.a| Quality declaration linked to from README | ✓ |

tracetools/include/tracetools/tracetools.h

@@ -12,6 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+/** \mainpage tracetools: tracing tools and instrumentation for ROS 2
+ *
+ * `tracetools` provides utilities to instrument ROS.
+ * It provides two main headers:
+ *
+ * - tracetools/tracetools.h
+ *   - instrumentation functions
+ * - tracetools/utils.hpp
+ *   - utility functions
+ */
+
 #ifndef TRACETOOLS__TRACETOOLS_H_
 #define TRACETOOLS__TRACETOOLS_H_
 
@@ -22,10 +33,14 @@
 #include "tracetools/visibility_control.hpp"
 
 #ifndef TRACETOOLS_DISABLED
+/// Call a tracepoint.
+/**
+ * This is the preferred method over calling the actual function directly.
+ */
 #  define TRACEPOINT(event_name, ...) \
   (ros_trace_ ## event_name)(__VA_ARGS__)
 #  define DECLARE_TRACEPOINT(event_name, ...) \
-  TRACETOOLS_PUBLIC void(ros_trace_ ## event_name)(__VA_ARGS__);
+  TRACETOOLS_PUBLIC void ros_trace_ ## event_name(__VA_ARGS__);
 #else
 #  define TRACEPOINT(event_name, ...) ((void) (0))
 #  define DECLARE_TRACEPOINT(event_name, ...)
@@ -36,20 +51,32 @@ extern "C"
 {
 #endif
 
+/// Get tracing compilation status.
 /**
- * Report whether tracing is compiled in
+ * \return `true` if tracing is enabled, `false` otherwise
  */
 TRACETOOLS_PUBLIC bool ros_trace_compile_status();
 
+/// `rcl_init`
 /**
- * tp: rcl_init
+ * Initialisation for the whole process.
+ * Notes the `tracetools` version automatically.
+ *
+ * \param[in] context_handle pointer to the `rcl_context_t` handle
  */
 DECLARE_TRACEPOINT(
   rcl_init,
   const void * context_handle)
 
+/// `rcl_node_init`
 /**
- * tp: rcl_node_init
+ * Node initialisation.
+ * Links a `rcl_node_t` handle to its `rmw_node_t` handle.
+ *
+ * \param[in] node_handle pointer to the node's `rcl_node_t` handle
+ * \param[in] rmw_handle pointer to the node's `rmw_node_t` handle
+ * \param[in] node_name node name
+ * \param[in] node_namespace node namespace
  */
 DECLARE_TRACEPOINT(
   rcl_node_init,
@@ -58,8 +85,17 @@ DECLARE_TRACEPOINT(
   const char * node_name,
   const char * node_namespace)
 
+/// `rcl_publisher_init`
 /**
- * tp: rcl_publisher_init
+ * Publisher initialisation.
+ * Links a `rcl_publisher_t` handle to its `rcl_node_t` handle
+ * and its `rmw_publisher_t` handle, and links it to a topic name.
+ *
+ * \param[in] publisher_handle pointer to the publisher's `rcl_publisher_t` handle
+ * \param[in] node_handle pointer to the `rcl_node_t` handle of the node the publisher belongs to
+ * \param[in] rmw_publisher_handle pointer to the publisher's `rmw_publisher_t` handle
+ * \param[in] topic_name full topic name
+ * \param[in] queue_depth publisher history depth
  */
 DECLARE_TRACEPOINT(
   rcl_publisher_init,
@@ -69,8 +105,18 @@ DECLARE_TRACEPOINT(
   const char * topic_name,
   const size_t queue_depth)
 
+/// `rcl_subscription_init`
 /**
- * tp: rcl_subscription_init
+ * Subscription initialisation.
+ * Links a `rcl_subscription_t` handle to its `rcl_node_t` handle
+ * and its `rmw_subscription_t` handle, and links it to a topic name.
+ *
+ * \param[in] subscription_handle pointer to the subscription's `rcl_subscription_t` handle
+ * \param[in] node_handle
+ *  pointer to the `rcl_node_t` handle of the node the subscription belongs to
+ * \param[in] rmw_subscription_handle pointer to the subscription's `rmw_subscription_t` handle
+ * \param[in] topic_name full topic name
+ * \param[in] queue_depth subscription history depth
  */
 DECLARE_TRACEPOINT(
   rcl_subscription_init,
@@ -80,24 +126,44 @@ DECLARE_TRACEPOINT(
   const char * topic_name,
   const size_t queue_depth)
 
+/// `rclcpp_subscription_init`
 /**
- * tp: rclcpp_subscription_init
+ * Subscription object initialisation.
+ * Links the `rclcpp::*Subscription*` object to a `rcl_subscription_t` handle.
+ * Needed since there could be more than 1 `rclcpp::*Subscription*` object
+ * for one `rcl` subscription (e.g. when using intra-process).
+ *
+ * \param[in] subscription_handle
+ *  pointer to the `rcl_subscription_t` handle of the subscription this object belongs to
+ * \param[in] subscription pointer to this subscription object (e.g. `rclcpp::*Subscription*`)
  */
 DECLARE_TRACEPOINT(
   rclcpp_subscription_init,
   const void * subscription_handle,
   const void * subscription)
 
+/// `rclcpp_subscription_callback_added`
 /**
- * tp: rclcpp_subscription_callback_added
+ * Link a subscription callback object to a subscription object.
+ *
+ * \param[in] subscription pointer to the subscription object this callback belongs to
+ * \param[in] callback pointer to this callback object (e.g. `rclcpp::AnySubscriptionCallback`)
  */
 DECLARE_TRACEPOINT(
   rclcpp_subscription_callback_added,
   const void * subscription,
   const void * callback)
 
+/// `rcl_service_init`
 /**
- * tp: rcl_service_init
+ * Service initialisation.
+ * Links a `rcl_service_t` handle to its `rcl_node_t` handle
+ * and its `rmw_service_t` handle, and links it to a service name.
+ *
+ * \param[in] service_handle pointer to the service's `rcl_service_t` handle
+ * \param[in] node_handle pointer to the `rcl_node_t` handle of the node the service belongs to
+ * \param[in] rmw_service_handle pointer to the service's `rmw_service_t` handle
+ * \param[in] service_name full service name
  */
 DECLARE_TRACEPOINT(
   rcl_service_init,
@@ -106,16 +172,29 @@ DECLARE_TRACEPOINT(
   const void * rmw_service_handle,
   const char * service_name)
 
+/// `rclcpp_service_callback_added`
 /**
- * tp: rclcpp_service_callback_added
+ * Link a service callback object to a service.
+ *
+ * \param[in] service_handle
+ *  pointer to the `rcl_service_t` handle of the service this callback belongs to
+ * \param[in] callback pointer to this callback object (e.g. `rclcpp::AnyServiceCallback`)
  */
 DECLARE_TRACEPOINT(
   rclcpp_service_callback_added,
   const void * service_handle,
   const void * callback)
 
+/// `rcl_client_init`
 /**
- * tp: rcl_client_init
+ * Client initialisation.
+ * Links a `rcl_client_t` handle to its `rcl_node_t` handle
+ * and its `rmw_client_t` handle, and links it to a client name.
+ *
+ * \param[in] client_handle pointer to the client's `rcl_client_t` handle
+ * \param[in] node_handle pointer to the `rcl_node_t` handle of the node the client belongs to
+ * \param[in] rmw_client_handle pointer to the client's `rmw_client_t` handle
+ * \param[in] service_name full client name
  */
 DECLARE_TRACEPOINT(
   rcl_client_init,
@@ -124,40 +203,68 @@ DECLARE_TRACEPOINT(
   const void * rmw_client_handle,
   const char * service_name)
 
+/// `rcl_timer_init`
 /**
- * tp: rcl_timer_init
+ * Timer initialisation.
+ * Notes the timer's period.
+ *
+ * \param[in] timer_handle pointer to the timer's `rcl_timer_t` handle
+ * \param[in] period period in nanoseconds
  */
 DECLARE_TRACEPOINT(
   rcl_timer_init,
   const void * timer_handle,
   int64_t period)
 
+/// `rclcpp_timer_callback_added`
 /**
- * tp: rclcpp_timer_callback_added
+ * Link a timer callback object to its `rcl_timer_t` handle.
+ *
+ * \param[in] timer_handle
+ *  pointer to the `rcl_timer_t` handle of the timer this callback belongs to
+ * \param[in] callback pointer to the callback object (`std::function`)
  */
 DECLARE_TRACEPOINT(
   rclcpp_timer_callback_added,
   const void * timer_handle,
   const void * callback)
 
+/// `rclcpp_callback_register`
 /**
- * tp: rclcpp_callback_register
+ * Register a demangled function symbol with a callback.
+ *
+ * \param[in] callback pointer to the callback object
+ *  (e.g. `rclcpp::AnySubscriptionCallback`,
+ *  `rclcpp::AnyServiceCallback`, timer `std::function`, etc.)
+ * \param[in] function_symbol demangled symbol of the callback function/lambda,
+ *  see \ref get_symbol()
  */
 DECLARE_TRACEPOINT(
   rclcpp_callback_register,
   const void * callback,
   const char * function_symbol)
 
+/// `callback_start`
 /**
- * tp: callback_start
+ * Start of a callback.
+ *
+ * \param[in] callback pointer to this callback object
+ *  (e.g. `rclcpp::AnySubscriptionCallback`,
+ *  `rclcpp::AnyServiceCallback`, timer `std::function`, etc.)
+ * \param[in] is_intra_process whether this callback is done via intra-process or not
  */
 DECLARE_TRACEPOINT(
   callback_start,
   const void * callback,
   const bool is_intra_process)
 
+/// `callback_end`
 /**
- * tp: callback_end
+ * End of a callback.
+ *
+ * \param[in] callback pointer to this callback object
+ *  (e.g. `rclcpp::AnySubscriptionCallback`,
+ *  `rclcpp::AnyServiceCallback`, timer `std::function`, etc.)
  */
 DECLARE_TRACEPOINT(
   callback_end,

tracetools/include/tracetools/utils.hpp

@@ -20,12 +20,21 @@
 
 #include "tracetools/visibility_control.hpp"
 
+/// Default symbol, used when address resolution fails.
 #define SYMBOL_UNKNOWN "UNKNOWN"
 
 TRACETOOLS_PUBLIC const char * _demangle_symbol(const char * mangled);
 
 TRACETOOLS_PUBLIC const char * _get_symbol_funcptr(void * funcptr);
 
+/// Get symbol from an std::function object.
+/**
+ * If function address resolution or symbol demangling fails,
+ * this will return a string that starts with \ref SYMBOL_UNKNOWN.
+ *
+ * \param[in] f the std::function object
+ * \return the symbol, or a placeholder
+ */
 template<typename T, typename ... U>
 const char * get_symbol(std::function<T(U...)> f)
 {
@@ -40,7 +49,13 @@ const char * get_symbol(std::function<T(U...)> f)
   return _demangle_symbol(f.target_type().name());
 }
 
-// Fallback meant for lambdas with captures
+/// Get symbol from a function-related object.
+/**
+ * Fallback meant for lambdas with captures.
+ *
+ * \param[in] l a generic object
+ * \return the symbol
+ */
 template<typename L>
 const char * get_symbol(L && l)
 {

tracetools_test/docs/.gitignore

@@ -0,0 +1 @@
+build/

tracetools_test/docs/Makefile

@@ -0,0 +1,19 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line.
+SPHINXOPTS    =
+SPHINXBUILD   = sphinx-build
+SOURCEDIR     = source
+BUILDDIR      = build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

tracetools_test/docs/source/about.rst

@@ -0,0 +1,4 @@
+About
+=====
+
+Testing utilities and tests for the `tracetools package <https://index.ros.org/p/tracetools/>`_.

tracetools_test/docs/source/api.rst

@@ -0,0 +1,8 @@
+API
+===
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Contents:
+
+   api/trace_test_case

tracetools_test/docs/source/api/trace_test_case.rst

@@ -0,0 +1,4 @@
+TraceTestCase
+=============
+
+.. automodule:: tracetools_test.case

tracetools_test/docs/source/conf.py

@@ -0,0 +1,218 @@
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# -*- coding: utf-8 -*-
+#
+# Configuration file for the Sphinx documentation builder.
+#
+# This file does only contain a selection of the most common options. For a
+# full list see the documentation:
+# http://www.sphinx-doc.org/en/master/config
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+import os
+import sys
+# tracetools_test
+sys.path.insert(0, os.path.abspath('../../'))
+# # tracetools_launch
+# sys.path.insert(0, os.path.abspath('../../../tracetools_launch/'))
+# # tracetools_read
+# sys.path.insert(0, os.path.abspath('../../../tracetools_read/'))
+# # tracetools_trace
+# sys.path.insert(0, os.path.abspath('../../../tracetools_trace/'))
+
+
+# -- Project information -----------------------------------------------------
+
+project = 'tracetools_test'
+copyright = '2019, Robert Bosch GmbH'  # noqa
+author = 'Robert Bosch GmbH'
+
+# The short X.Y version
+version = os.environ.get('SPHINX_VERSION_SHORT', '')
+# The full version, including alpha/beta/rc tags
+release = os.environ.get('SPHINX_VERSION_FULL', '')
+
+
+# -- General configuration ---------------------------------------------------
+
+# If your documentation needs a minimal Sphinx version, state it here.
+#
+# needs_sphinx = '1.0'
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [
+    'sphinx.ext.autodoc',
+    'sphinx_autodoc_typehints',
+    'sphinx.ext.autosummary',
+    'sphinx.ext.doctest',
+    'sphinx.ext.coverage',
+]
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# The suffix(es) of source filenames.
+# You can specify multiple suffix as a list of string:
+#
+# source_suffix = ['.rst', '.md']
+source_suffix = '.rst'
+
+# The master toctree document.
+master_doc = 'index'
+
+# The language for content autogenerated by Sphinx. Refer to documentation
+# for a list of supported languages.
+#
+# This is also used if you do content translation via gettext catalogs.
+# Usually you set "language" from the command line for these cases.
+language = None
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+# exclude_patterns = []
+
+# The name of the Pygments (syntax highlighting) style to use.
+pygments_style = None
+
+
+# -- Options for HTML output -------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+#
+html_theme = 'alabaster'
+
+# Theme options are theme-specific and customize the look and feel of a theme
+# further.  For a list of options available for each theme, see the
+# documentation.
+#
+# html_theme_options = {}
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+# html_static_path = []
+
+# Custom sidebar templates, must be a dictionary that maps document names
+# to template names.
+#
+# The default sidebars (for documents that don't match any pattern) are
+# defined by theme itself.  Builtin themes are using these templates by
+# default: ``['localtoc.html', 'relations.html', 'sourcelink.html',
+# 'searchbox.html']``.
+#
+# html_sidebars = {}
+
+
+# -- Options for HTMLHelp output ---------------------------------------------
+
+# Output file base name for HTML help builder.
+htmlhelp_basename = 'tracetools_test-doc'
+
+
+# -- Options for LaTeX output ------------------------------------------------
+
+# latex_elements = {
+# The paper size ('letterpaper' or 'a4paper').
+#
+# 'papersize': 'letterpaper',
+
+# The font size ('10pt', '11pt' or '12pt').
+#
+# 'pointsize': '10pt',
+
+# Additional stuff for the LaTeX preamble.
+#
+# 'preamble': '',
+
+# Latex figure (float) alignment
+#
+# 'figure_align': 'htbp',
+# }
+
+# Grouping the document tree into LaTeX files. List of tuples
+# (source start file, target name, title,
+#  author, documentclass [howto, manual, or own class]).
+# latex_documents = [
+#     (master_doc, 'rclpy.tex', 'rclpy Documentation',
+#      'Esteve Fernandez', 'manual'),
+# ]
+
+
+# -- Options for manual page output ------------------------------------------
+
+# One entry per manual page. List of tuples
+# (source start file, name, description, authors, manual section).
+# man_pages = [
+#     (master_doc, 'rclpy', 'rclpy Documentation',
+#      [author], 1)
+# ]
+
+
+# -- Options for Texinfo output ----------------------------------------------
+
+# Grouping the document tree into Texinfo files. List of tuples
+# (source start file, target name, title, author,
+#  dir menu entry, description, category)
+# texinfo_documents = [
+#     (master_doc, 'rclpy', 'rclpy Documentation',
+#      author, 'rclpy', 'One line description of project.',
+#      'Miscellaneous'),
+# ]
+
+
+# -- Options for Epub output -------------------------------------------------
+
+# Bibliographic Dublin Core info.
+epub_title = project
+
+# The unique identifier of the text. This can be a ISBN number
+# or the project homepage.
+#
+# epub_identifier = ''
+
+# A unique identification for the text.
+#
+# epub_uid = ''
+
+# A list of files that should not be packed into the epub file.
+# epub_exclude_files = ['search.html']
+
+
+# -- Extension configuration -------------------------------------------------
+
+# Ignore these
+autodoc_mock_imports = [
+    'tracetools_launch',
+    'tracetools_read',
+    'tracetools_trace',
+    'launch',
+    'launch_ros',
+]
+
+autoclass_content = 'both'
+
+autodoc_default_options = {
+    'members': None,
+    'undoc-members': True,
+}

tracetools_test/docs/source/index.rst

@@ -0,0 +1,17 @@
+tracetools_test
+===============
+
+tracetools_test provides testing utilities and tests for the `tracetools package <https://index.ros.org/p/tracetools/>`_.
+
+.. toctree::
+   :maxdepth: 3
+
+   about
+   api
+
+Indices and tables
+==================
+
+* :ref:`genindex`
+* :ref:`modindex`
+* :ref:`search`