138 lines
5.1 KiB
Python
138 lines
5.1 KiB
Python
# Copyright 2019 Robert Bosch GmbH
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""Module for the Trace action."""
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import os
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import re
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import subprocess
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from typing import List
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from typing import Optional
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from typing import Union
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from launch.action import Action
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from launch.actions import SetEnvironmentVariable
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from launch.event import Event
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from launch.event_handlers import OnShutdown
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from launch.launch_context import LaunchContext
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from tracetools_trace.tools import lttng
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from tracetools_trace.tools import names
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from tracetools_trace.tools import path
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class Trace(Action):
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"""
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Tracing action for launch.
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Sets up and enables tracing through a launch file description.
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"""
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PROFILE_LIB_NORMAL = 'liblttng-ust-cyg-profile.so'
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PROFILE_LIB_FAST = 'liblttng-ust-cyg-profile-fast.so'
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PROFILE_EVENT_PATTERN = '^lttng_ust_cyg_profile.*:func_.*'
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def __init__(
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self,
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*,
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session_name: str,
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append_timestamp: bool = False,
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base_path: str = path.DEFAULT_BASE_PATH,
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events_ust: List[str] = names.DEFAULT_EVENTS_ROS,
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events_kernel: List[str] = names.DEFAULT_EVENTS_KERNEL,
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profile_fast: bool = True,
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**kwargs,
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) -> None:
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"""
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Constructor.
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:param session_name: the name of the tracing session
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:param append_timestamp: whether to append timestamp to the session name
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:param base_path: the path to the base directory in which to create the session directory
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:param events_ust: the list of ROS UST events to enable
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:param events_kernel: the list of kernel events to enable
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:param profile_fast: `True` to use fast profiling, `False` for normal (only if necessary)
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"""
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super().__init__(**kwargs)
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if append_timestamp:
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session_name = path.append_timestamp(session_name)
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self.__session_name = session_name
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self.__base_path = base_path
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self.__events_ust = events_ust
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self.__events_kernel = events_kernel
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self.__profile_fast = profile_fast
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self.__ld_preload_action = None
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if self.has_profiling_events(events_ust):
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profile_lib_name = self.PROFILE_LIB_FAST if profile_fast else self.PROFILE_LIB_NORMAL
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profile_lib_path = self.get_shared_lib_path(profile_lib_name)
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if profile_lib_path is not None:
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self.__ld_preload_action = SetEnvironmentVariable(
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'LD_PRELOAD',
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profile_lib_path,
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)
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@classmethod
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def has_profiling_events(cls, events_ust: List[str]) -> bool:
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"""Check if the UST events list contains at least one profiling event."""
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return any(re.match(cls.PROFILE_EVENT_PATTERN, event_name) for event_name in events_ust)
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@staticmethod
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def get_shared_lib_path(lib_name: str) -> Union[str, None]:
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"""
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Get the full path to a given shared lib, if possible.
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:param lib_name: the name of the shared library
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:return: the full path if found, `None` otherwise
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"""
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if os.name == 'nt':
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return None
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(exit_code, output) = subprocess.getstatusoutput(f'whereis -b {lib_name}')
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if exit_code != 0:
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return None
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# Output of whereis is
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# <input_lib_name>: <full path, if found>
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# Filter out empty strings, in case lib is not found
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output_split = [split_part for split_part in output.split(':') if len(split_part) > 0]
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if len(output_split) != 2:
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return None
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return output_split[1].strip()
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def execute(self, context: LaunchContext) -> Optional[List[Action]]:
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# TODO make sure this is done as late as possible
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context.register_event_handler(OnShutdown(on_shutdown=self._destroy))
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# TODO make sure this is done as early as possible
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self._setup()
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if self.__ld_preload_action is not None:
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return [self.__ld_preload_action]
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return None
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def _setup(self) -> None:
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lttng.lttng_init(
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self.__session_name,
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self.__base_path,
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ros_events=self.__events_ust,
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kernel_events=self.__events_kernel)
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def _destroy(self, event: Event, context: LaunchContext) -> None:
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lttng.lttng_fini(self.__session_name)
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def __repr__(self):
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return (
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'Trace('
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f'session_name={self.__session_name}, '
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f'base_path={self.__base_path}, '
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f'num_events_ust={len(self.__events_ust)}, '
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f'num_events_kernel={len(self.__events_kernel)}), '
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f'profiling={self.__ld_preload_action is not None}, '
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f'profile_fast={self.__profile_fast}'
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)
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