Add basic ros2tracee

.gitignore

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+*~
+*.pyc
+

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>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>
+  <license>TODO</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/api/__init__.py

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+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

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+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

setup.py

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+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',
+    maintainer_email='fixed-term.christophe.bourquebedard@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='TODO',
+    tests_require=['pytest'],
+    entry_points={
+        'ros2cli.command': [
+            'trace = ros2trace.command.trace:TraceCommand',
+        ],
+    }
+)

test/test_copyright.py

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+# 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'

test/test_flake8.py

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+# 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'

test/test_pep257.py

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+# 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'

test/test_xmllint.py

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+# 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'