Merge branch 'add-other-base-packages' into 'master'

Add other base packages

Closes #6

See merge request micro-ROS/ros2_tracing!16

ros2trace/.gitignore

@@ -0,0 +1,3 @@
+*~
+*.pyc
+

ros2trace/package.xml

@@ -0,0 +1,26 @@
+<?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>ros2trace</name>
+  <version>0.0.1</version>
+  <description>
+    The trace command for ROS 2 command line tools.
+  </description>
+  <maintainer email="fixed-term.christophe.bourquebedard@de.bosch.com">Christophe Bedard</maintainer>
+  <maintainer email="ingo.luetkebohle@de.bosch.com">Ingo Lütkebohle</maintainer>
+  <license>Apache 2.0</license>
+  <author email="fixed-term.christophe.bourquebedard@de.bosch.com">Christophe Bedard</author>
+
+  <depend>ros2cli</depend>
+  <depend>tracetools_trace</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>ament_xmllint</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

ros2trace/ros2trace/__init__.py

@@ -0,0 +1,13 @@
+# Copyright 2019 Robert Bosch GmbH
+#
+# 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.

ros2trace/ros2trace/api/__init__.py

@@ -0,0 +1,68 @@
+# Copyright 2019 Robert Bosch GmbH
+#
+# 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.
+
+"""API functions for the ROS 2 trace command."""
+
+import os
+
+from tracetools_trace.tools import args
+from tracetools_trace.tools import lttng
+
+
+def add_trace_arguments(parser):
+    args.add_arguments(parser)
+
+
+def init(args):
+    """
+    Init and start tracing.
+
+    :param args: the parsed arguments object containing the right fields
+    """
+    session_name = args.session_name
+    base_path = args.path
+    full_path = os.path.join(base_path, session_name)
+    ros_events = args.events_ust
+    kernel_events = args.events_kernel
+
+    ust_enabled = len(ros_events) > 0
+    kernel_enabled = len(kernel_events) > 0
+    if ust_enabled:
+        print(f'UST tracing enabled ({len(ros_events)} events)')
+        if args.list:
+            print(f'\tevents: {ros_events}')
+    else:
+        print('UST tracing disabled')
+    if kernel_enabled:
+        print(f'kernel tracing enabled ({len(kernel_events)} events)')
+        if args.list:
+            print(f'\tevents: {kernel_events}')
+    else:
+        print('kernel tracing disabled')
+
+    print(f'writting tracing session to: {full_path}')
+    input('press enter to start...')
+    lttng.lttng_init(session_name, full_path, ros_events=ros_events, kernel_events=kernel_events)
+
+
+def fini(args):
+    """
+    Stop and finalize tracing.
+
+    :param args: the parsed arguments object containing the right fields
+    """
+    session_name = args.session_name
+    input('press enter to stop...')
+    print('stopping & destroying tracing session')
+    lttng.lttng_fini(session_name)

ros2trace/ros2trace/command/__init__.py

@@ -0,0 +1,13 @@
+# Copyright 2019 Robert Bosch GmbH
+#
+# 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.

ros2trace/ros2trace/command/trace.py

@@ -0,0 +1,32 @@
+# Copyright 2019 Robert Bosch GmbH
+#
+# 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.
+
+"""Module for trace command extension implementation."""
+
+from ros2cli.command import CommandExtension
+from ros2trace.api import add_trace_arguments
+from ros2trace.api import init
+from ros2trace.api import fini
+
+
+class TraceCommand(CommandExtension):
+    """Trace ROS nodes to get information on their execution."""
+
+    def add_arguments(self, parser, cli_name):
+        add_trace_arguments(parser)
+
+    def main(self, *, parser, args):
+        init(args)
+        fini(args)
+        return 0

ros2trace/setup.py

@@ -0,0 +1,26 @@
+from setuptools import find_packages
+from setuptools import setup
+
+setup(
+    name='ros2trace',
+    version='0.0.1',
+    packages=find_packages(exclude=['test']),
+    install_requires=['ros2cli'],
+    zip_safe=True,
+    maintainer='Christophe Bedard, Ingo Lütkebohle',
+    maintainer_email='fixed-term.christophe.bourquebedard@de.bosch.com, ingo.luetkebohle@de.bosch.com',
+    author='Christophe Bedard',
+    author_email='fixed-term.christophe.bourquebedard@de.bosch.com',
+    # url=',
+    keywords=[],
+    description='The run command for ROS 2 command line tools.',
+    long_description="""\
+The package provides the trace command for the ROS 2 command line tools.""",
+    license='Apache 2.0',
+    tests_require=['pytest'],
+    entry_points={
+        'ros2cli.command': [
+            'trace = ros2trace.command.trace:TraceCommand',
+        ],
+    }
+)

ros2trace/test/test_copyright.py

@@ -0,0 +1,23 @@
+# Copyright 2017 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.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

ros2trace/test/test_flake8.py

@@ -0,0 +1,23 @@
+# Copyright 2017 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.
+
+from ament_flake8.main import main
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc = main(argv=[])
+    assert rc == 0, 'Found errors'

ros2trace/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2017 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.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=[])
+    assert rc == 0, 'Found code style errors / warnings'

ros2trace/test/test_xmllint.py

@@ -0,0 +1,23 @@
+# 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.
+
+from ament_xmllint.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.xmllint
+def test_xmllint():
+    rc = main(argv=[])
+    assert rc == 0, 'Found errors'

tracetools/package.xml

@@ -6,7 +6,7 @@
   <description>ROS 2 wrapper for instrumentation</description>
   <maintainer email="fixed-term.christophe.bourquebedard@de.bosch.com">Christophe Bedard</maintainer>
   <maintainer email="ingo.luetkebohle@de.bosch.com">Ingo Luetkebohle</maintainer>
-  <license>Apache Software License 2.0</license>
+  <license>Apache 2.0</license>
   <author email="ingo.luetkebohle@de.bosch.com">Ingo Luetkebohle</author>
   <author email="fixed-term.christophe.bourquebedard@de.bosch.com">Christophe Bedard</author>
 

tracetools_launch/.gitignore

@@ -0,0 +1,3 @@
+*~
+*.pyc
+

tracetools_launch/launch/example.launch.py

@@ -0,0 +1,35 @@
+# Copyright 2019 Robert Bosch GmbH
+#
+# 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.
+
+"""Example launch file for the Trace action."""
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from tracetools_launch.trace import Trace
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        Trace(
+            session_name='my-tracing-session',
+            base_path='/tmp'),
+        Node(
+            package='examples_rclcpp_minimal_publisher',
+            node_executable='publisher_member_function',
+            output='screen'),
+        Node(
+            package='examples_rclcpp_minimal_subscriber',
+            node_executable='subscriber_member_function',
+            output='screen'),
+    ])

tracetools_launch/package.xml

@@ -0,0 +1,24 @@
+<?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_launch</name>
+  <version>0.0.1</version>
+  <description>Launch integration for tracing</description>
+  <maintainer email="fixed-term.christophe.bourquebedard@de.bosch.com">Christophe Bedard</maintainer>
+  <maintainer email="ingo.luetkebohle@de.bosch.com">Ingo Lütkebohle</maintainer>
+  <license>Apache 2.0</license>
+  <author email="fixed-term.christophe.bourquebedard@de.bosch.com">Christophe Bedard</author>
+
+  <depend>launch</depend>
+  <depend>launch_ros</depend>
+  <depend>tracetools_trace</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

tracetools_launch/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/tracetools_launch
+[install]
+install-scripts=$base/lib/tracetools_launch

tracetools_launch/setup.py

@@ -0,0 +1,26 @@
+import glob
+
+from setuptools import find_packages
+from setuptools import setup
+
+package_name = 'tracetools_launch'
+
+setup(
+    name=package_name,
+    version='0.0.1',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/' + package_name, ['package.xml']),
+        ('share/' + package_name + '/launch', glob.glob('launch/*.launch.py')),
+    ],
+    install_requires=['setuptools'],
+    maintainer='Christophe Bedard, Ingo Lütkebohle',
+    maintainer_email='fixed-term.christophe.bourquebedard@de.bosch.com, ingo.luetkebohle@de.bosch.com',
+    author='Christophe Bedard',
+    author_email='fixed-term.christophe.bourquebedard@de.bosch.com',
+    # url='',
+    keywords=['ROS'],
+    description='Launch integration for tracing',
+    license='Apache 2.0',
+    tests_require=['pytest'],
+)

tracetools_launch/tracetools_launch/__init__.py

@@ -0,0 +1,13 @@
+# Copyright 2019 Robert Bosch GmbH
+#
+# 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.

tracetools_launch/tracetools_launch/trace.py

@@ -0,0 +1,82 @@
+# Copyright 2019 Robert Bosch GmbH
+#
+# 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.
+
+"""Module for the Trace action."""
+
+import os
+from typing import List
+from typing import Optional
+
+from launch.action import Action
+from launch.event import Event
+from launch.event_handlers import OnShutdown
+from launch.launch_context import LaunchContext
+from tracetools_trace.tools import lttng
+from tracetools_trace.tools import names
+
+
+class Trace(Action):
+    """
+    Tracing action for launch.
+
+    Sets up and enables tracing through a launch file description.
+    """
+
+    def __init__(
+        self,
+        *,
+        session_name: str,
+        base_path: str = '/tmp',
+        events_ust: List[str] = names.DEFAULT_EVENTS_ROS,
+        events_kernel: List[str] = names.DEFAULT_EVENTS_KERNEL,
+        **kwargs,
+    ) -> None:
+        """
+        Constructor.
+
+        :param session_name: the name of the tracing session
+        :param base_path: the base directory in which to create the trace directory
+        :param events_ust: the list of ROS UST events to enable
+        :param events_kernel: the list of kernel events to enable
+        """
+        super().__init__(**kwargs)
+        self.__session_name = session_name
+        self.__path = os.path.join(base_path, session_name)
+        self.__events_ust = events_ust
+        self.__events_kernel = events_kernel
+
+    def execute(self, context: LaunchContext) -> Optional[List[Action]]:
+        # TODO make sure this is done as late as possible
+        context.register_event_handler(OnShutdown(on_shutdown=self._destroy))
+        # TODO make sure this is done as early as possible
+        self._setup()
+
+    def _setup(self) -> None:
+        lttng.lttng_init(
+            self.__session_name,
+            self.__path,
+            ros_events=self.__events_ust,
+            kernel_events=self.__events_kernel)
+
+    def _destroy(self, event: Event, context: LaunchContext) -> None:
+        lttng.lttng_fini(self.__session_name)
+
+    def __repr__(self):
+        return (
+            "Trace("
+            f"session_name='{self.__session_name}', "
+            f"path='{self.__path}', "
+            f"num_events_ust={len(self.__events_ust)}, "
+            f"num_events_kernel={len(self.__events_kernel)})"
+        )

tracetools_test/package.xml

@@ -6,7 +6,7 @@
   <description>Separate test package for tracetools</description>
   <maintainer email="fixed-term.christophe.bourquebedard@de.bosch.com">Christophe Bedard</maintainer>
   <maintainer email="ingo.luetkebohle@de.bosch.com">Ingo Luetkebohle</maintainer>
-  <license>Apache Software License 2.0</license>
+  <license>Apache 2.0</license>
   <author email="fixed-term.christophe.bourquebedard@de.bosch.com">Christophe Bedard</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>

tracetools_trace/.gitignore

@@ -0,0 +1,3 @@
+*~
+*.pyc
+

tracetools_trace/package.xml

@@ -0,0 +1,24 @@
+<?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>0.0.1</version>
+  <description>Tools for setting up tracing sessions</description>
+  <maintainer email="fixed-term.christophe.bourquebedard@de.bosch.com">Christophe Bedard</maintainer>
+  <maintainer email="ingo.luetkebohle@de.bosch.com">Ingo Lütkebohle</maintainer>
+  <license>Apache 2.0</license>
+  <author email="fixed-term.christophe.bourquebedard@de.bosch.com">Christophe Bedard</author>
+
+  <!-- TODO consider adding python3-lttng to rosdep/python
+    https://github.com/ros/rosdistro/blob/master/rosdep/python.yaml
+  -->
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

tracetools_trace/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/tracetools_trace
+[install]
+install-scripts=$base/lib/tracetools_trace

tracetools_trace/setup.py

@@ -0,0 +1,28 @@
+from setuptools import find_packages
+from setuptools import setup
+
+package_name = 'tracetools_trace'
+
+setup(
+    name=package_name,
+    version='0.0.1',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    maintainer='Christophe Bedard, Ingo Lütkebohle',
+    maintainer_email='fixed-term.christophe.bourquebedard@de.bosch.com, ingo.luetkebohle@de.bosch.com',
+    author='Christophe Bedard',
+    author_email='fixed-term.christophe.bourquebedard@de.bosch.com',
+    # url='',
+    keywords=['ROS'],
+    description='Tools for setting up tracing sessions',
+    entry_points={
+        'console_scripts': [
+            f'trace = {package_name}.trace:main',
+        ],
+    },
+    license='Apache 2.0',
+    tests_require=['pytest'],
+)

tracetools_trace/test/test_copyright.py

@@ -0,0 +1,23 @@
+# Copyright 2017 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.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

tracetools_trace/test/test_flake8.py

@@ -0,0 +1,23 @@
+# Copyright 2017 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.
+
+from ament_flake8.main import main
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc = main(argv=[])
+    assert rc == 0, 'Found errors'

tracetools_trace/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 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.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=[])
+    assert rc == 0, 'Found code style errors / warnings'

tracetools_trace/tracetools_trace/__init__.py

@@ -0,0 +1,13 @@
+# Copyright 2019 Robert Bosch GmbH
+#
+# 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.

tracetools_trace/tracetools_trace/tools/__init__.py

@@ -0,0 +1,13 @@
+# Copyright 2019 Robert Bosch GmbH
+#
+# 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.

tracetools_trace/tracetools_trace/tools/args.py

@@ -0,0 +1,67 @@
+# Copyright 2019 Robert Bosch GmbH
+#
+# 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.
+
+"""Module containing parsing functions for tracing commands."""
+
+import argparse
+import time
+
+from . import names
+
+
+class DefaultArgValueCompleter:
+    """Callable returning an arg's default value."""
+
+    def __init__(self, arg):
+        default = arg.default
+        self.list = default if isinstance(default, list) else [default]
+
+    def __call__(self, **kwargs):
+        return self.list
+
+
+def parse_args():
+    """
+    Parse args for tracing.
+    """
+    parser = argparse.ArgumentParser(description='Setup and launch an LTTng tracing session.')
+    add_arguments(parser)
+    return parser.parse_args()
+
+
+def add_arguments(parser):
+    parser.add_argument(
+        '--session-name', '-s', dest='session_name',
+        default=f'session-{time.strftime("%Y%m%d%H%M%S")}',
+        help='the name of the tracing session (default: session-YYYYMMDDHHMMSS)')
+    parser.add_argument(
+        '--path', '-p', dest='path',
+        default='/tmp',
+        help='path of the base directory for trace data (default: %(default)s)')
+    arg = parser.add_argument(
+        '--ust', '-u', nargs='*', dest='events_ust', default=names.DEFAULT_EVENTS_ROS,
+        help='the ROS UST events to enable (default: all events) '
+            '[to disable all UST events, '
+            'provide this flag without any event name]')
+    arg.completer = DefaultArgValueCompleter(arg)
+    arg = parser.add_argument(
+        '--kernel', '-k', nargs='*', dest='events_kernel',
+        default=names.DEFAULT_EVENTS_KERNEL,
+        help='the kernel events to enable (default: all events) '
+            '[to disable all UST events, '
+            'provide this flag without any event name]')
+    arg.completer = DefaultArgValueCompleter(arg)
+    parser.add_argument(
+        '--list', '-l', dest='list', action='store_true',
+        help='display lists of enabled events (default: %(default)s)')

tracetools_trace/tracetools_trace/tools/lttng.py

@@ -0,0 +1,309 @@
+# Copyright 2019 Robert Bosch GmbH
+#
+# 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.
+
+"""Interface for tracing with LTTng."""
+
+import sys
+
+# Temporary workaround
+sys.path = ['/usr/local/lib/python3.6/site-packages'] + sys.path
+from typing import List
+
+import lttng  # noqa: E402
+
+from .names import (  # noqa: E402
+    DEFAULT_CONTEXT,
+    DEFAULT_EVENTS_KERNEL,
+    DEFAULT_EVENTS_ROS,
+)
+
+
+def lttng_init(
+    session_name: str,
+    full_path: str,
+    ros_events: List[str] = DEFAULT_EVENTS_ROS,
+    kernel_events: List[str] = DEFAULT_EVENTS_KERNEL,
+    context_names: List[str] = DEFAULT_CONTEXT
+) -> None:
+    """
+    Set up and start LTTng session.
+
+    :param session_name: the name of the session
+    :param full_path: the full path to the main directory to write trace data to
+    :param ros_events: list of ROS events to enable
+    :param kernel_events: list of kernel events to enable
+    :param context_names: list of context elements to enable
+    """
+    _lttng_setup(session_name, full_path, ros_events, kernel_events, context_names)
+    _lttng_start(session_name)
+
+
+def lttng_fini(session_name: str) -> None:
+    """
+    Stop and destroy LTTng session.
+
+    :param session_name: the name of the session
+    """
+    _lttng_stop(session_name)
+    _lttng_destroy(session_name)
+
+
+def _lttng_setup(
+    session_name: str,
+    full_path: str,
+    ros_events: List[str] = DEFAULT_EVENTS_ROS,
+    kernel_events: List[str] = DEFAULT_EVENTS_KERNEL,
+    context_names: List[str] = DEFAULT_CONTEXT,
+    channel_name_ust: str = 'ros2',
+    channel_name_kernel: str = 'kchan',
+) -> None:
+    """
+    Set up LTTng session, with events and context.
+
+    See: https://lttng.org/docs/#doc-core-concepts
+
+    :param session_name: the name of the session
+    :param full_path: the full path to the main directory to write trace data to
+    :param ros_events: list of ROS events to enable
+    :param kernel_events: list of kernel events to enable
+    :param context_names: list of context elements to enable
+    :param channel_name_ust: the UST channel name
+    :param channel_name_kernel: the kernel channel name
+    """
+    ust_enabled = ros_events is not None and len(ros_events) > 0
+    kernel_enabled = kernel_events is not None and len(kernel_events) > 0
+
+    # Domains
+    if ust_enabled:
+        domain_ust = lttng.Domain()
+        domain_ust.type = lttng.DOMAIN_UST
+        # Per-user buffer
+        domain_ust.buf_type = lttng.BUFFER_PER_UID
+        channel_ust = lttng.Channel()
+        channel_ust.name = channel_name_ust
+        # Discard, do not overwrite
+        channel_ust.attr.overwrite = 0
+        # 8 sub-buffers of 2 times the usual page size
+        channel_ust.attr.subbuf_size = 2 * 4096
+        channel_ust.attr.num_subbuf = 8
+        # Ignore switch timer interval and use read timer instead
+        channel_ust.attr.switch_timer_interval = 0
+        channel_ust.attr.read_timer_interval = 200
+        # mmap channel output instead of splice
+        channel_ust.attr.output = lttng.EVENT_MMAP
+        events_list_ust = _create_events(ros_events)
+    if kernel_enabled:
+        domain_kernel = lttng.Domain()
+        domain_kernel.type = lttng.DOMAIN_KERNEL
+        # Global buffer (only option for kernel domain)
+        domain_kernel.buf_type = lttng.BUFFER_GLOBAL
+        channel_kernel = lttng.Channel()
+        channel_kernel.name = channel_name_kernel
+        # Discard, do not overwrite
+        channel_kernel.attr.overwrite = 0
+        # 8 sub-buffers of 8 times the usual page size, since
+        # there can be way more kernel events than UST events
+        channel_kernel.attr.subbuf_size = 8 * 4096
+        channel_kernel.attr.num_subbuf = 8
+        # Ignore switch timer interval and use read timer instead
+        channel_kernel.attr.switch_timer_interval = 0
+        channel_kernel.attr.read_timer_interval = 200
+        # mmap channel output instead of splice
+        channel_kernel.attr.output = lttng.EVENT_MMAP
+        events_list_kernel = _create_events(kernel_events)
+
+    # Session
+    _create_session(session_name, full_path)
+
+    # 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: str) -> None:
+    """
+    Start LTTng session, and check for errors.
+
+    :param session_name: the name of the session
+    """
+    result = lttng.start(session_name)
+    if result < 0:
+        raise RuntimeError(f'failed to start tracing: {lttng.strerror(result)}')
+
+
+def _lttng_stop(session_name: str) -> None:
+    """
+    Stop LTTng session, and check for errors.
+
+    :param session_name: the name of the session
+    """
+    result = lttng.stop(session_name)
+    if result < 0:
+        raise RuntimeError(f'failed to stop tracing: {lttng.strerror(result)}')
+
+
+def _lttng_destroy(session_name: str) -> None:
+    """
+    Destroy LTTng session, and check for errors.
+
+    :param session_name: the name of the session
+    """
+    result = lttng.destroy(session_name)
+    if result < 0:
+        raise RuntimeError(f'failed to destroy tracing session: {lttng.strerror(result)}')
+
+
+def _create_events(event_names_list: List[str]) -> List[lttng.Event]:
+    """
+    Create events list from names.
+
+    :param event_names_list: a list of names to create events for
+    :return: the list of events
+    """
+    events_list = []
+    for event_name in event_names_list:
+        e = lttng.Event()
+        e.name = event_name
+        e.type = lttng.EVENT_TRACEPOINT
+        e.loglevel_type = lttng.EVENT_LOGLEVEL_ALL
+        events_list.append(e)
+    return events_list
+
+
+def _create_session(session_name: str, full_path: str) -> None:
+    """
+    Create session from name and full directory path, and check for errors.
+
+    :param session_name: the name of the session
+    :param full_path: the full path to the main directory to write trace data to
+    """
+    result = lttng.create(session_name, full_path)
+    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 = lttng.create(session_name, full_path)
+    if result < 0:
+        raise RuntimeError(f'session creation failed: {lttng.strerror(result)}')
+
+
+def _create_handle(session_name: str, domain: lttng.Domain) -> lttng.Handle:
+    """
+    Create a handle for a given session name and a domain, and check for errors.
+
+    :param session_name: the name of the session
+    :param domain: the domain to be used
+    :return: the handle
+    """
+    handle = None
+    handle = lttng.Handle(session_name, domain)
+    if handle is None:
+        raise RuntimeError('handle creation failed')
+    return handle
+
+
+def _enable_channel(handle: lttng.Handle, channel: lttng.Channel) -> None:
+    """
+    Enable channel for a handle, and check for errors.
+
+    :param handle: the handle to be used
+    :param channel: the channel to enable
+    """
+    result = lttng.enable_channel(handle, channel)
+    if result < 0:
+        raise RuntimeError(f'channel enabling failed: {lttng.strerror(result)}')
+
+
+def _enable_events(
+    handle: lttng.Handle,
+    events_list: List[lttng.Event],
+    channel_name: str,
+) -> None:
+    """
+    Enable events list for a given handle and channel name, and check for errors.
+
+    :param handle: the handle to be used
+    :param events_list: the list of events to enable
+    :param channel_name: the name of the channel to associate
+    """
+    for event in events_list:
+        result = lttng.enable_event(handle, event, channel_name)
+        if result < 0:
+            raise RuntimeError(f'event enabling failed: {lttng.strerror(result)}')
+
+
+context_map = {
+    'procname': lttng.EVENT_CONTEXT_PROCNAME,
+    'pid': lttng.EVENT_CONTEXT_PID,
+    'vpid': lttng.EVENT_CONTEXT_VPID,
+    'vtid': lttng.EVENT_CONTEXT_VTID,
+}
+
+
+def _context_name_to_type(context_name: str) -> int:
+    """
+    Convert from context name to LTTng enum/constant type.
+
+    :param context_name: the generic name for the context
+    :return: the associated type
+    """
+    return context_map.get(context_name)
+
+
+def _create_context_list(context_names_list: List[str]) -> List[lttng.EventContext]:
+    """
+    Create context list from names, and check for errors.
+
+    :param context_names_list: the list of context names
+    :return: the event context list
+    """
+    context_list = []
+    for c in context_names_list:
+        ec = lttng.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: List[lttng.Handle],
+    context_list: List[lttng.EventContext],
+) -> None:
+    """
+    Add context list to given handles, and check for errors.
+
+    :param handles: the list of handles for which to add context
+    :param context_list: the list of event contexts to add to the handles
+    """
+    for handle in handles:
+        for contex in context_list:
+            result = lttng.add_context(handle, contex, None, None)
+            if result < 0:
+                raise RuntimeError(f'failed to add context: {lttng.strerror(result)}')

tracetools_trace/tracetools_trace/tools/names.py

@@ -0,0 +1,81 @@
+# Copyright 2019 Robert Bosch GmbH
+#
+# 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.
+
+"""Lists of names (events, context) for tracing."""
+
+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_KERNEL = [
+    'power_cpu_frequency',
+    'sched_switch',
+    'sched_waking',
+    'sched_wakeup',
+]
+
+DEFAULT_EVENTS_ROS = [
+    'ros2:rcl_init',
+    'ros2:rcl_node_init',
+    'ros2:rcl_publisher_init',
+    'ros2:rcl_subscription_init',
+    'ros2:rclcpp_subscription_callback_added',
+    'ros2:rcl_service_init',
+    'ros2:rclcpp_service_callback_added',
+    'ros2:rcl_client_init',
+    'ros2:rcl_timer_init',
+    'ros2:rclcpp_timer_callback_added',
+    'ros2:rclcpp_callback_register',
+    'ros2:callback_start',
+    'ros2:callback_end',
+]
+
+DEFAULT_CONTEXT = [
+    'procname',
+    'perf:thread:instructions',
+    'perf:thread:cycles',
+    'perf:thread:cpu-cycles',
+    'vpid',
+    'vtid',
+]

tracetools_trace/tracetools_trace/trace.py

@@ -0,0 +1,55 @@
+#!/usr/bin/env python3
+# Copyright 2019 Robert Bosch GmbH
+#
+# 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.
+
+"""Entrypoint/script to setup and start an LTTng tracing session."""
+
+import os
+
+from tracetools_trace.tools import args
+from tracetools_trace.tools import lttng
+from tracetools_trace.tools import names
+
+
+def main():
+    params = args.parse_args()
+
+    session_name = params.session_name
+    base_path = params.path
+    full_path = os.path.join(base_path, session_name)
+    ros_events = params.events_ust
+    kernel_events = params.events_kernel
+
+    ust_enabled = len(ros_events) > 0
+    kernel_enabled = len(kernel_events) > 0
+    if ust_enabled:
+        print(f'UST tracing enabled ({len(ros_events)} events)')
+        if params.list:
+            print(f'\tevents: {ros_events}')
+    else:
+        print('UST tracing disabled')
+    if kernel_enabled:
+        print(f'kernel tracing enabled ({len(kernel_events)} events)')
+        if params.list:
+            print(f'\tevents: {kernel_events}')
+    else:
+        print('kernel tracing disabled')
+
+    print(f'writting tracing session to: {full_path}')
+    input('press enter to start...')
+    lttng.lttng_init(session_name, full_path, ros_events=ros_events, kernel_events=kernel_events)
+    input('press enter to stop...')
+
+    print('stopping & destroying tracing session')
+    lttng.lttng_fini(session_name)