103 lines
2.6 KiB
Bash
Executable file
103 lines
2.6 KiB
Bash
Executable file
#!/bin/bash
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# 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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## Helper script for ROS tracing
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##
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## Call this by providing these arguments:
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## 1. a session name [optional; 'ros2' will be used]
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## 2. a wait time before killing and stopping (in seconds)
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## 3. a roslaunch/rosrun command
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## ex: ./trace.sh 3 roslaunch tracecompass_ros_testcases pub_sub.launch
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source ./${BASH_SOURCE%/*}/../../../../install/local_setup.bash
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## Parameters
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# if no parameters were given, exit with error
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if [ -z "$1" ] ; then
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echo "Error: no parameters were given!"
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exit 1
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elif [ "$1" == "-h" ] ; then
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echo -e "ROS tracing helper script.\n" \
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"Provide 3 arguments:\n" \
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"1. the lttng session name [optional; 'ros2' will be used]\n" \
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"2. the wait time before killing and stopping (in seconds)\n" \
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"3. the ros2 run command\n" \
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"Example: ./trace.sh ros-trace 3 ros2 run tracetools tracetools_status"
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exit 0
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fi
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# session name
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session_name="$1"
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case "$session_name" in
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''|*[!0-9]*) # not a number: good
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shift
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;;
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*) # number: so use a default session name
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session_name="ros2"
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;;
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esac
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# wait time (seconds) before killing and stopping
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sleep_time="$1"
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case "$sleep_time" in
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''|*[!0-9]*) # not a number: error!
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echo "Error: not a valid sleep time!"
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exit 1
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;;
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*) # number: good
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shift
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;;
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esac
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# command from remaining arguments
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if [ -z "$1" ] ; then
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echo "Error: no command was given!"
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exit 1
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fi
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launch_cmd="$@"
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launch_cmd+=" &"
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## Trace
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# create lttng session (and set output to traces/ directory)
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lttng create $session_name --output=./${BASH_SOURCE%/*}/../traces/$session_name/
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# enable events
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./${BASH_SOURCE%/*}/setup-lttng.sh
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# start
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lttng start
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# preload UST library
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export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/liblttng-ust-cyg-profile.so
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# launch
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eval "$launch_cmd"
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# wait a bit and kill
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echo "waiting $sleep_time..."
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sleep $sleep_time
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echo "killing"
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kill $!
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# wait again for everything to shutdown
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echo "waiting for shutdown..."
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sleep 2
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echo "stopping"
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# stop & destroy
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lttng stop
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lttng destroy
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