Add basic ros2tracee

ros2trace/api/__init__.py

@@ -0,0 +1,42 @@
+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):
+    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):
+    session_name = args.session_name
+    input('press enter to stop...')
+    print('stopping & destroying tracing session')
+    lttng.lttng_fini(session_name)

ros2trace/command/trace.py

@@ -0,0 +1,16 @@
+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."""
+
+    def add_arguments(self, parser, cli_name):
+        add_trace_arguments(parser)
+
+    def main(self, *, parser, args):
+        init(args)
+        fini(args)
+        return 0