Extract tracetools_trace from tracetools_analysis

package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>tracetools_trace</name>
+  <version>0.1.0</version>
+  <description>Tools for setting up tracing sessions</description>
+
+  <maintainer email="bedard.christophe@gmail.com">Christophe Bedard</maintainer>
+  <author email="bedard.christophe@gmail.com">Christophe Bedard</author>
+  <license>GPLv3</license>
+
+  <!-- TODO add python3-lttng? -->
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

setup.cfg

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+[develop]
+script-dir=$base/lib/tracetools_trace
+[install]
+install-scripts=$base/lib/tracetools_trace

setup.py

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+from setuptools import setup
+
+package_name = 'tracetools_trace'
+
+setup(
+    name=package_name,
+    version='0.1.0',
+    packages=[package_name],
+    data_files=[
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    keywords=['ROS'],
+    description='Tools for setting up tracing sessions',
+    entry_points={
+        'console_scripts': [
+            f'trace = {package_name}.trace:main',
+        ],
+    },
+)

tracetools_trace/tools/lttng.py

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+# LTTng tracing interface
+
+# Temporary workaround
+import sys
+sys.path = ['/usr/local/lib/python3.6/site-packages'] + sys.path
+
+from lttng import *
+from .names import DEFAULT_EVENTS_ROS, DEFAULT_EVENTS_KERNEL, DEFAULT_CONTEXT
+
+def lttng_setup(session_name, directory, ros_events=DEFAULT_EVENTS_ROS, kernel_events=DEFAULT_EVENTS_KERNEL, context_names=DEFAULT_CONTEXT):
+    """
+    Setup LTTng session, with events and context
+    :param session_name (str): the name of the session
+    :param directory (str): the path of the main directory to write trace data to
+    :param ros_events (list(str)): list of ROS events to enable
+    :param kernel_events (list(str)): list of kernel events to enable
+    :param context_names (list(str)): list of context elements to enable
+    """
+    ust_enabled = ros_events is not None and len(ros_events) > 0
+    kernel_enabled = kernel_events is not None and len(kernel_events) > 0
+    print(f'UST tracing {f"enabled ({len(ros_events)} events)" if ust_enabled else "disabled"}')
+    print(f'kernel tracing {f"enabled ({len(kernel_events)} events)" if kernel_enabled else "disabled"}')
+
+    # Domains
+    if ust_enabled:
+        domain_ust = Domain()
+        domain_ust.type = DOMAIN_UST
+        domain_ust.buf_type = BUFFER_PER_UID
+        channel_ust = Channel()
+        channel_ust.name = 'ros2'
+        channel_ust.attr.overwrite = 0
+        channel_ust.attr.subbuf_size = 2*4096
+        channel_ust.attr.num_subbuf = 8
+        channel_ust.attr.switch_timer_interval = 0
+        channel_ust.attr.read_timer_interval = 200
+        channel_ust.attr.output = EVENT_MMAP
+        events_list_ust = _create_events(ros_events)
+    if kernel_enabled:
+        domain_kernel = Domain()
+        domain_kernel.type = DOMAIN_KERNEL
+        domain_kernel.buf_type = BUFFER_GLOBAL
+        channel_kernel = Channel()
+        channel_kernel.name = 'kchan'
+        channel_kernel.attr.overwrite = 0
+        channel_kernel.attr.subbuf_size = 8*4096
+        channel_kernel.attr.num_subbuf = 8
+        channel_kernel.attr.switch_timer_interval = 0
+        channel_kernel.attr.read_timer_interval = 200
+        channel_kernel.attr.output = EVENT_MMAP
+        events_list_kernel = _create_events(kernel_events)
+
+    # Session
+    _create_session(session_name, directory)
+
+    # Handles, channels, events
+    handle_ust = None
+    if ust_enabled:
+        handle_ust = _create_handle(session_name, domain_ust)
+        _enable_channel(handle_ust, channel_ust)
+        _enable_events(handle_ust, events_list_ust, channel_ust.name)
+    handle_kernel = None
+    if kernel_enabled:
+        handle_kernel = _create_handle(session_name, domain_kernel)
+        _enable_channel(handle_kernel, channel_kernel)
+        _enable_events(handle_kernel, events_list_kernel, channel_kernel.name)
+    
+    # Context
+    context_list = _create_context_list(context_names)
+    enabled_handles = [h for h in [handle_ust, handle_kernel] if h is not None]
+    _add_context(enabled_handles, context_list)
+
+def lttng_start(session_name):
+    """
+    Start LTTng session, and check for errors
+    """
+    result = start(session_name)
+    if result < 0:
+        raise RuntimeError(f'failed to start tracing: {strerror(result)}')
+
+def lttng_stop(session_name):
+    """
+    Stop LTTng session, and check for errors
+    """
+    result = stop(session_name)
+    if result < 0:
+        raise RuntimeError(f'failed to stop tracing: {strerror(result)}')
+
+def lttng_destroy(session_name):
+    """
+    Destroy LTTng session, and check for errors
+    """
+    result = destroy(session_name)
+    if result < 0:
+        raise RuntimeError(f'failed to destroy tracing session: {strerror(result)}')
+
+def _create_events(event_names_list):
+    """
+    Create events list from names
+    """
+    events_list = []
+    for event_name in event_names_list:
+        e = Event()
+        e.name = event_name
+        e.type = EVENT_TRACEPOINT
+        e.loglevel_type = EVENT_LOGLEVEL_ALL
+        events_list.append(e)
+    return events_list
+
+def _create_session(session_name, directory):
+    """
+    Create session from name and directory path, and check for errors
+    """
+    result = create(session_name, directory)
+    LTTNG_ERR_EXIST_SESS = 28
+    if result == -LTTNG_ERR_EXIST_SESS:
+        # Sessions seem to persist, so if it already exists,
+        # just destroy it and try again
+        lttng_destroy(session_name)
+        result = create(session_name, directory)
+    if result < 0:
+        raise RuntimeError(f'session creation failed: {strerror(result)}')
+
+def _create_handle(session_name, domain):
+    """
+    Create a handle for a given session name and a domain, and check for errors
+    """
+    handle = None
+    handle = Handle(session_name, domain)
+    if handle is None:
+        raise RuntimeError('handle creation failed')
+    return handle
+
+def _enable_channel(handle, channel):
+    """
+    Enable channel for a handle, and check for errors
+    """
+    result = enable_channel(handle, channel)
+    if result < 0:
+        raise RuntimeError(f'channel enabling failed: {strerror(result)}')
+
+def _enable_events(handle, events_list, channel_name):
+    """
+    Enable events list for a given handle and channel name, and check for errors
+    """
+    for event in events_list:
+        result = enable_event(handle, event, channel_name)
+        if result < 0:
+            raise RuntimeError(f'event enabling failed: {strerror(result)}')
+
+context_map = {
+    'procname': EVENT_CONTEXT_PROCNAME,
+    'pid': EVENT_CONTEXT_PID,
+    'vpid': EVENT_CONTEXT_VPID,
+    'vtid': EVENT_CONTEXT_VTID,
+}
+def _context_name_to_type(context_name):
+    """
+    Convert from context name to LTTng enum/constant type
+    """
+    return context_map.get(context_name)
+
+def _create_context_list(context_names_list):
+    """
+    Create context list from names, and check for errors
+    """
+    context_list = []
+    for c in context_names_list:
+        ec = EventContext()
+        context_type = _context_name_to_type(c)
+        if context_type is not None:
+            ec.ctx = context_type
+            context_list.append(ec)
+    return context_list
+
+def _add_context(handles, context_list):
+    """
+    Add context list to given handles, and check for errors
+    """
+    for handle in handles:
+        for contex in context_list:
+            result = add_context(handle, contex, None, None)
+            if result < 0:
+                raise RuntimeError(f'failed to add context: {strerror(result)}')

tracetools_trace/tools/names.py

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+# Lists of names (events, context)
+
+DEFAULT_EVENTS_KERNEL=[
+    'block_rq_complete',
+    'block_rq_insert',
+    'block_rq_issue',
+    'block_bio_frontmerge',
+    'irq_softirq_entry',
+    'irq_softirq_raise'
+    'irq_softirq_exit',
+    'irq_handler_entry',
+    'irq_handler_exit',
+    'lttng_statedump_process_state',
+    'lttng_statedump_start',
+    'lttng_statedump_end',
+    'lttng_statedump_network_interface',
+    'lttng_statedump_block_device',
+    'net_dev_queue',
+    'netif_receive_skb',
+    'net_if_receive_skb',
+    'power_cpu_frequency',
+    'sched_switch',
+    'sched_waking',
+    'sched_pi_setprio',
+    'sched_process_fork',
+    'sched_process_exit',
+    'sched_process_free',
+    'sched_wakeup',
+    'sched_migrate',
+    'sched_migrate_task',
+    'timer_hrtimer_start',
+    'timer_hrtimer_cancel',
+    'timer_hrtimer_expire_entry',
+    'timer_hrtimer_expire_exit',
+]
+
+DEFAULT_EVENTS_ROS=[
+    'ros2:rcl_init',
+    'ros2:rcl_node_init',
+    'ros2:rcl_publisher_init',
+    'ros2:rcl_subscription_init',
+    'ros2:rclcpp_subscription_callback_added',
+    'ros2:rclcpp_subscription_callback_start',
+    'ros2:rclcpp_subscription_callback_end',
+    'ros2:rcl_service_init',
+    'ros2:rclcpp_service_callback_added',
+    'ros2:rclcpp_service_callback_start',
+    'ros2:rclcpp_service_callback_end',
+    'ros2:rcl_client_init',
+    'ros2:rcl_timer_init',
+    'ros2:rclcpp_timer_callback_added',
+    'ros2:rclcpp_timer_callback_start',
+    'ros2:rclcpp_timer_callback_end',
+    'ros2:rclcpp_callback_register',
+]
+
+DEFAULT_CONTEXT=[
+    'procname',
+    'perf:thread:instructions',
+    'perf:thread:cycles',
+    'perf:thread:cpu-cycles',
+    'vpid',
+    'vtid',
+]

tracetools_trace/trace.py

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+#!/usr/bin/env python3
+# Entrypoint/script to setup and start an LTTng tracing session
+# TODO
+
+import sys
+import time
+from tracetools_trace.tools.lttng import (
+    lttng_setup,
+    lttng_start,
+    lttng_stop,
+    lttng_destroy,
+)
+
+def main(argv=sys.argv):
+    if len(argv) != 3:
+        print("usage: session-name /path")
+        exit(1)
+
+    session_name = argv[1]
+    path = argv[2] + '/' + session_name
+    lttng_setup(session_name, path)
+    lttng_start(session_name)
+    print(f'tracing session started: {path}')
+
+    # TODO integrate this with launch + ROS shutdown
+    input('press enter to stop...')
+
+    print('stopping & destroying tracing session')
+    lttng_stop(session_name)
+    lttng_destroy(session_name)