Add 'tracetools_analysis/' from commit '62fe169634'

git-subtree-dir: tracetools_analysis
git-subtree-mainline: e5c64669b8
git-subtree-split: 62fe169634

tracetools_analysis/.gitignore

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+*~
+*.pyc
+

tracetools_analysis/analysis/.gitignore

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+*.svg
+*.png
+*.pdf
+.ipynb_checkpoints
+

tracetools_analysis/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>tracetools_analysis</name>
+  <version>0.0.1</version>
+  <description>Tools for analysing trace data</description>
+  <maintainer email="fixed-term.christophe.bourquebedard@de.bosch.com">Christophe Bedard</maintainer>
+  <license>TODO</license>
+  <author email="ingo.luetkebohle@de.bosch.com">Ingo Luetkebohle</author>
+  <author email="fixed-term.christophe.bourquebedard@de.bosch.com">Christophe Bedard</author>
+
+  <exec_depend>python3-babeltrace</exec_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_analysis/setup.cfg

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+[develop]
+script-dir=$base/lib/tracetools_analysis
+[install]
+install-scripts=$base/lib/tracetools_analysis

tracetools_analysis/setup.py

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+from setuptools import find_packages
+from setuptools import setup
+
+package_name = 'tracetools_analysis'
+
+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',
+    maintainer_email='fixed-term.christophe.bourquebedard@de.bosch.com',
+    author='Ingo Luetkebohle, Christophe Bedard',
+    author_email='ingo.luetkebohle@de.bosch.com, fixed-term.christophe.bourquebedard@de.bosch.com',
+    # url='',
+    keywords=['ROS'],
+    description='Tools for analysing trace data',
+    entry_points={
+        'console_scripts': [
+            f'convert = {package_name}.convert:main',
+            f'process = {package_name}.process:main',
+        ],
+    },
+    license='TODO',
+    tests_require=['pytest'],
+)

tracetools_analysis/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'

tracetools_analysis/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'

tracetools_analysis/test/test_pep257.py

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+# 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_analysis/tracetools_analysis/__init__.py

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+"""Reading and interpreting of LTTng trace data."""
+__author__ = 'Luetkebohle Ingo (CR/AEX3)'

tracetools_analysis/tracetools_analysis/analysis/data_model.py

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+# Data model
+
+import pandas as pd
+
+
+class DataModel():
+    """
+    Container to model pre-processed data for analysis.
+
+    Contains data for an analysis to use. This is a middleground between trace events data and the
+    output data of an analysis. This aims to represent the data in a ROS-aware way.
+    It uses pandas DataFrames directly.
+    """
+
+    def __init__(self) -> None:
+        # Objects (one-time events, usually when something is created)
+        self.contexts = pd.DataFrame(columns=['context_handle',
+                                              'timestamp',
+                                              'pid',
+                                              'version'])
+        self.contexts.set_index(['context_handle'], inplace=True, drop=True)
+        self.nodes = pd.DataFrame(columns=['node_handle',
+                                           'timestamp',
+                                           'tid',
+                                           'rmw_handle',
+                                           'name',
+                                           'namespace'])
+        self.nodes.set_index(['node_handle'], inplace=True, drop=True)
+        self.publishers = pd.DataFrame(columns=['publisher_handle',
+                                                'timestamp',
+                                                'node_handle',
+                                                'rmw_handle',
+                                                'topic_name',
+                                                'depth'])
+        self.publishers.set_index(['publisher_handle'], inplace=True, drop=True)
+        self.subscriptions = pd.DataFrame(columns=['subscription_handle',
+                                                   'timestamp',
+                                                   'node_handle',
+                                                   'rmw_handle',
+                                                   'topic_name',
+                                                   'depth'])
+        self.subscriptions.set_index(['subscription_handle'], inplace=True, drop=True)
+        self.services = pd.DataFrame(columns=['service_handle',
+                                              'timestamp',
+                                              'node_handle',
+                                              'rmw_handle',
+                                              'service_name'])
+        self.services.set_index(['service_handle'], inplace=True, drop=True)
+        self.clients = pd.DataFrame(columns=['client_handle',
+                                             'timestamp',
+                                             'node_handle',
+                                             'rmw_handle',
+                                             'service_name'])
+        self.clients.set_index(['client_handle'], inplace=True, drop=True)
+        self.timers = pd.DataFrame(columns=['timer_handle',
+                                            'timestamp',
+                                            'period'])
+        self.timers.set_index(['timer_handle'], inplace=True, drop=True)
+
+        self.callback_objects = pd.DataFrame(columns=['handle',
+                                                      'timestamp',
+                                                      'callback_object'])
+        self.callback_objects.set_index(['handle'], inplace=True, drop=True)
+        self.callback_symbols = pd.DataFrame(columns=['callback_object',
+                                                      'timestamp',
+                                                      'symbol'])
+        self.callback_symbols.set_index(['callback_object'], inplace=True, drop=True)
+
+        # Events (multiple instances, may not have a meaningful index)
+        self.callback_instances = pd.DataFrame(columns=['callback_object',
+                                                        'timestamp',
+                                                        'duration',
+                                                        'intra_process'])
+
+    def add_context(self, context_handle, timestamp, pid, version) -> None:
+        self.contexts.loc[context_handle] = [timestamp, pid, version]
+
+    def add_node(self, node_handle, timestamp, tid, rmw_handle, name, namespace) -> None:
+        self.nodes.loc[node_handle] = [timestamp, tid, rmw_handle, name, namespace]
+
+    def add_publisher(self, handle, timestamp, node_handle, rmw_handle, topic_name, depth) -> None:
+        self.publishers.loc[handle] = [timestamp, node_handle, rmw_handle, topic_name, depth]
+
+    def add_subscription(self, handle, timestamp, node_handle, rmw_handle, topic_name, depth) -> None:
+        self.subscriptions.loc[handle] = [timestamp, node_handle, rmw_handle, topic_name, depth]
+
+    def add_service(self, handle, timestamp, node_handle, rmw_handle, service_name) -> None:
+        self.services.loc[handle] = [timestamp, node_handle, rmw_handle, service_name]
+
+    def add_client(self, handle, timestamp, node_handle, rmw_handle, service_name) -> None:
+        self.clients.loc[handle] = [timestamp, node_handle, rmw_handle, service_name]
+
+    def add_timer(self, handle, timestamp, period) -> None:
+        self.timers.loc[handle] = [timestamp, period]
+
+    def add_callback_object(self, handle, timestamp, callback_object) -> None:
+        self.callback_objects.loc[handle] = [timestamp, callback_object]
+
+    def add_callback_symbol(self, callback_object, timestamp, symbol) -> None:
+        self.callback_symbols.loc[callback_object] = [timestamp, symbol]
+
+    def add_callback_instance(self, callback_object, timestamp, duration, intra_process) -> None:
+        data = {
+            'callback_object': callback_object,
+            'timestamp': timestamp,
+            'duration': duration,
+            'intra_process': intra_process,
+        }
+        self.callback_instances = self.callback_instances.append(data, ignore_index=True)
+
+    def print_model(self) -> None:
+        """Debug method to print every contained df."""
+        print('====================DATA MODEL====================')
+        print(f'Contexts:\n{self.contexts.to_string()}')
+        print()
+        print(f'Nodes:\n{self.nodes.to_string()}')
+        print()
+        print(f'Publishers:\n{self.publishers.to_string()}')
+        print()
+        print(f'Subscriptions:\n{self.subscriptions.to_string()}')
+        print()
+        print(f'Services:\n{self.services.to_string()}')
+        print()
+        print(f'Clients:\n{self.clients.to_string()}')
+        print()
+        print(f'Timers:\n{self.timers.to_string()}')
+        print()
+        print(f'Callback objects:\n{self.callback_objects.to_string()}')
+        print()
+        print(f'Callback symbols:\n{self.callback_symbols.to_string()}')
+        print()
+        print(f'Callback instances:\n{self.callback_instances.to_string()}')
+        print('==================================================')

tracetools_analysis/tracetools_analysis/analysis/handler.py

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+# Event handler
+
+import sys
+from typing import Callable
+from typing import Dict
+from typing import List
+
+from .lttng_models import EventMetadata
+from .lttng_models import get_field
+from .lttng_models import get_name
+
+
+class EventHandler():
+    """Base event handling class."""
+
+    def __init__(self, handler_map: Dict[str, Callable[[Dict, EventMetadata], None]]) -> None:
+        """
+        Constructor.
+
+        :param handler_map: the mapping from event name to handling method
+        """
+        self._handler_map = handler_map
+
+    def handle_events(self, events: List[Dict[str, str]]) -> None:
+        """
+        Handle events by calling their handlers.
+
+        :param events: the events to process
+        """
+        for event in events:
+            self._handle(event)
+
+    def _handle(self, event: Dict[str, str]) -> None:
+        event_name = get_name(event)
+        handler_function = self._handler_map.get(event_name, None)
+        if handler_function is not None:
+            pid = get_field(
+                event,
+                'vpid',
+                default=get_field(
+                    event,
+                    'pid',
+                    raise_if_not_found=False))
+            tid = get_field(
+                event,
+                'vtid',
+                default=get_field(
+                    event,
+                    'tid',
+                    raise_if_not_found=False))
+            timestamp = get_field(event, '_timestamp')
+            procname = get_field(event, 'procname')
+            metadata = EventMetadata(event_name, pid, tid, timestamp, procname)
+            handler_function(event, metadata)
+        else:
+            print(f'unhandled event name: {event_name}', file=sys.stderr)

tracetools_analysis/tracetools_analysis/analysis/load.py

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+import pickle
+from typing import Dict
+from typing import List
+
+
+def load_pickle(pickle_file_path: str) -> List[Dict]:
+    """
+    Load pickle file containing converted trace events.
+
+    :param pickle_file_path: the path to the pickle file to load
+    :return: the list of events read from the file
+    """
+    events = []
+    with open(pickle_file_path, 'rb') as f:
+        p = pickle.Unpickler(f)
+        while True:
+            try:
+                events.append(p.load())
+            except EOFError:
+                break  # we're done
+
+    return events

tracetools_analysis/tracetools_analysis/analysis/lttng_models.py

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+# Model objects for LTTng traces/events
+
+from typing import Any
+from typing import Dict
+
+
+def get_field(event: Dict, field_name: str, default=None, raise_if_not_found=True) -> Any:
+    field_value = event.get(field_name, default)
+    # If enabled, raise exception as soon as possible to avoid headaches
+    if raise_if_not_found and field_value is None:
+        raise AttributeError(f'event field "{field_name}" not found!')
+    return field_value
+
+
+def get_name(event: Dict) -> str:
+    return get_field(event, '_name')
+
+
+class EventMetadata():
+    """Container for event metadata."""
+
+    def __init__(self, event_name, pid, tid, timestamp, procname) -> None:
+        self._event_name = event_name
+        self._pid = pid
+        self._tid = tid
+        self._timestamp = timestamp
+        self._procname = procname
+
+    @property
+    def event_name(self):
+        return self._event_name
+
+    @property
+    def pid(self):
+        return self._pid
+
+    @property
+    def tid(self):
+        return self._tid
+
+    @property
+    def timestamp(self):
+        return self._timestamp
+
+    @property
+    def procname(self):
+        return self._procname

tracetools_analysis/tracetools_analysis/analysis/ros2_processor.py

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+# Process trace events and create ROS model
+
+from typing import Dict
+from typing import List
+
+from .data_model import DataModel
+from .handler import EventHandler
+from .lttng_models import get_field
+from .lttng_models import EventMetadata
+
+
+class Ros2Processor(EventHandler):
+    """
+    ROS 2-aware event processing/handling class implementation.
+
+    Handles a trace's events and builds a model with the data.
+    """
+
+    def __init__(self) -> None:
+        # Link a ROS trace event to its corresponding handling method
+        handler_map = {
+            'ros2:rcl_init':
+                self._handle_rcl_init,
+            'ros2:rcl_node_init':
+                self._handle_rcl_node_init,
+            'ros2:rcl_publisher_init':
+                self._handle_rcl_publisher_init,
+            'ros2:rcl_subscription_init':
+                self._handle_subscription_init,
+            'ros2:rclcpp_subscription_callback_added':
+                self._handle_rclcpp_subscription_callback_added,
+            'ros2:rcl_service_init':
+                self._handle_rcl_service_init,
+            'ros2:rclcpp_service_callback_added':
+                self._handle_rclcpp_service_callback_added,
+            'ros2:rcl_client_init':
+                self._handle_rcl_client_init,
+            'ros2:rcl_timer_init':
+                self._handle_rcl_timer_init,
+            'ros2:rclcpp_timer_callback_added':
+                self._handle_rclcpp_timer_callback_added,
+            'ros2:rclcpp_callback_register':
+                self._handle_rclcpp_callback_register,
+            'ros2:callback_start':
+                self._handle_callback_start,
+            'ros2:callback_end':
+                self._handle_callback_end,
+        }
+        super().__init__(handler_map)
+
+        self._data = DataModel()
+
+        # Temporary buffers
+        self._callback_instances = {}
+
+    def get_data_model(self) -> DataModel:
+        return self._data
+
+    def _handle_rcl_init(self, event: Dict, metadata: EventMetadata) -> None:
+        context_handle = get_field(event, 'context_handle')
+        timestamp = metadata.timestamp
+        pid = metadata.pid
+        version = get_field(event, 'version')
+        self._data.add_context(context_handle, timestamp, pid, version)
+
+    def _handle_rcl_node_init(self, event: Dict, metadata: EventMetadata) -> None:
+        handle = get_field(event, 'node_handle')
+        timestamp = metadata.timestamp
+        tid = metadata.tid
+        rmw_handle = get_field(event, 'rmw_handle')
+        name = get_field(event, 'node_name')
+        namespace = get_field(event, 'namespace')
+        self._data.add_node(handle, timestamp, tid, rmw_handle, name, namespace)
+
+    def _handle_rcl_publisher_init(self, event: Dict, metadata: EventMetadata) -> None:
+        handle = get_field(event, 'publisher_handle')
+        timestamp = metadata.timestamp
+        node_handle = get_field(event, 'node_handle')
+        rmw_handle = get_field(event, 'rmw_publisher_handle')
+        topic_name = get_field(event, 'topic_name')
+        depth = get_field(event, 'queue_depth')
+        self._data.add_publisher(handle, timestamp, node_handle, rmw_handle, topic_name, depth)
+
+    def _handle_subscription_init(self, event: Dict, metadata: EventMetadata) -> None:
+        handle = get_field(event, 'subscription_handle')
+        timestamp = metadata.timestamp
+        node_handle = get_field(event, 'node_handle')
+        rmw_handle = get_field(event, 'rmw_subscription_handle')
+        topic_name = get_field(event, 'topic_name')
+        depth = get_field(event, 'queue_depth')
+        self._data.add_subscription(handle, timestamp, node_handle, rmw_handle, topic_name, depth)
+
+    def _handle_rclcpp_subscription_callback_added(self, event: Dict, metadata: EventMetadata) -> None:
+        handle = get_field(event, 'subscription_handle')
+        timestamp = metadata.timestamp
+        callback_object = get_field(event, 'callback')
+        self._data.add_callback_object(handle, timestamp, callback_object)
+
+    def _handle_rcl_service_init(self, event: Dict, metadata: EventMetadata) -> None:
+        handle = get_field(event, 'service_handle')
+        timestamp = metadata.timestamp
+        node_handle = get_field(event, 'node_handle')
+        rmw_handle = get_field(event, 'rmw_service_handle')
+        service_name = get_field(event, 'service_name')
+        self._data.add_service(handle, timestamp, node_handle, rmw_handle, service_name)
+
+    def _handle_rclcpp_service_callback_added(self, event: Dict, metadata: EventMetadata) -> None:
+        handle = get_field(event, 'service_handle')
+        timestamp = metadata.timestamp
+        callback_object = get_field(event, 'callback')
+        self._data.add_callback_object(handle, timestamp, callback_object)
+
+    def _handle_rcl_client_init(self, event: Dict, metadata: EventMetadata) -> None:
+        handle = get_field(event, 'client_handle')
+        timestamp = metadata.timestamp
+        node_handle = get_field(event, 'node_handle')
+        rmw_handle = get_field(event, 'rmw_client_handle')
+        service_name = get_field(event, 'service_name')
+        self._data.add_client(handle, timestamp, node_handle, rmw_handle, service_name)
+
+    def _handle_rcl_timer_init(self, event: Dict, metadata: EventMetadata) -> None:
+        handle = get_field(event, 'timer_handle')
+        timestamp = metadata.timestamp
+        period = get_field(event, 'period')
+        self._data.add_timer(handle, timestamp, period)
+
+    def _handle_rclcpp_timer_callback_added(self, event: Dict, metadata: EventMetadata) -> None:
+        handle = get_field(event, 'timer_handle')
+        timestamp = metadata.timestamp
+        callback_object = get_field(event, 'callback')
+        self._data.add_callback_object(handle, timestamp, callback_object)
+
+    def _handle_rclcpp_callback_register(self, event: Dict, metadata: EventMetadata) -> None:
+        callback_object = get_field(event, 'callback')
+        timestamp = metadata.timestamp
+        symbol = get_field(event, 'symbol')
+        self._data.add_callback_symbol(callback_object, timestamp, symbol)
+
+    def _handle_callback_start(self, event: Dict, metadata: EventMetadata) -> None:
+        # Add to dict
+        callback_addr = get_field(event, 'callback')
+        self._callback_instances[callback_addr] = (event, metadata)
+
+    def _handle_callback_end(self, event: Dict, metadata: EventMetadata) -> None:
+        # Fetch from dict
+        callback_object = get_field(event, 'callback')
+        (event_start, metadata_start) = self._callback_instances.get(callback_object)
+        if event_start is not None and metadata_start is not None:
+            del self._callback_instances[callback_object]
+            duration = metadata.timestamp - metadata_start.timestamp
+            is_intra_process = get_field(event_start, 'is_intra_process', raise_if_not_found=False)
+            self._data.add_callback_instance(
+                callback_object,
+                metadata_start.timestamp,
+                duration,
+                bool(is_intra_process))
+        else:
+            print(f'No matching callback start for callback object "{callback_object}"')
+
+
+def ros2_process(events: List[Dict[str, str]]) -> Ros2Processor:
+    """
+    Process unpickled events and create ROS 2 model.
+
+    :param events: the list of events
+    :return: the processor object
+    """
+    processor = Ros2Processor()
+    processor.handle_events(events)
+    return processor

tracetools_analysis/tracetools_analysis/conversion/ctf.py

@@ -0,0 +1,64 @@
+# CTF to pickle conversion
+
+from pickle import Pickler
+
+import babeltrace
+
+# List of ignored CTF fields
+_IGNORED_FIELDS = [
+    'content_size', 'cpu_id', 'events_discarded', 'id', 'packet_size', 'packet_seq_num',
+    'stream_id', 'stream_instance_id', 'timestamp_end', 'timestamp_begin', 'magic', 'uuid', 'v'
+]
+_DISCARD = 'events_discarded'
+
+
+def ctf_to_pickle(trace_directory: str, target: Pickler) -> int:
+    """
+    Load CTF trace and convert to a pickle file.
+
+    :param trace_directory: the main/top trace directory
+    :param target: the target pickle file to write to
+    :return: the number of events written
+    """
+    # add traces
+    tc = babeltrace.TraceCollection()
+    print(f'Importing trace directory: {trace_directory}')
+    tc.add_traces_recursive(trace_directory, 'ctf')
+
+    count = 0
+    count_written = 0
+    # count_pid_matched = 0
+    # traced = set()
+
+    # PID_KEYS = ['vpid', 'pid']
+    for event in tc.events:
+        count += 1
+        # pid = None
+        # for key in PID_KEYS:
+        #     if key in event.keys():
+        #         pid = event[key]
+        #         break
+
+        # Write all for now
+        pod = _ctf_event_to_pod(event)
+        target.dump(pod)
+        count_written += 1
+
+    return count_written
+
+
+def _ctf_event_to_pod(ctf_event):
+    """
+    Convert name, timestamp, and all other keys except those in IGNORED_FIELDS into a dictionary.
+
+    :param ctf_element: The element to convert
+    :type ctf_element: babeltrace.Element
+    :return:
+    :return type: dict
+    """
+    pod = {'_name': ctf_event.name, '_timestamp': ctf_event.timestamp}
+    if hasattr(ctf_event, _DISCARD) and ctf_event[_DISCARD] > 0:
+        print(ctf_event[_DISCARD])
+    for key in [key for key in ctf_event.keys() if key not in _IGNORED_FIELDS]:
+        pod[key] = ctf_event[key]
+    return pod

tracetools_analysis/tracetools_analysis/convert.py

@@ -0,0 +1,29 @@
+#!/usr/bin/env python3
+# Entrypoint/script to convert CTF trace data to a pickle file
+
+import argparse
+from pickle import Pickler
+import time
+
+from tracetools_analysis.conversion import ctf
+
+
+def parse_args():
+    parser = argparse.ArgumentParser(description='Convert CTF trace data to a pickle file.')
+    parser.add_argument('trace_directory', help='the path to the main CTF trace directory')
+    parser.add_argument('pickle_file', help='the target pickle file to generate')
+    return parser.parse_args()
+
+
+def main():
+    args = parse_args()
+
+    trace_directory = args.trace_directory
+    pickle_target_file = args.pickle_file
+
+    start_time = time.time()
+    with open(pickle_target_file, 'wb') as f:
+        p = Pickler(f, protocol=4)
+        count = ctf.ctf_to_pickle(trace_directory, p)
+        time_diff = time.time() - start_time
+        print(f'converted {count} events in {time_diff * 1000:.2f} ms')

tracetools_analysis/tracetools_analysis/process.py

@@ -0,0 +1,29 @@
+#!/usr/bin/env python3
+# Entrypoint/script to process events from a pickle file to build a ROS model
+
+import argparse
+import time
+
+from tracetools_analysis.analysis import load
+from tracetools_analysis.analysis import ros2_processor
+
+
+def parse_args():
+    parser = argparse.ArgumentParser(description='Process a pickle file generated '
+                                                 'from tracing and analyze the data.')
+    parser.add_argument('pickle_file', help='the pickle file to import')
+    return parser.parse_args()
+
+
+def main():
+    args = parse_args()
+
+    pickle_filename = args.pickle_file
+
+    start_time = time.time()
+    events = load.load_pickle(pickle_filename)
+    processor = ros2_processor.ros2_process(events)
+    time_diff = time.time() - start_time
+    print(f'processed {len(events)} events in {time_diff * 1000:.2f} ms')
+
+    processor.get_data_model().print_model()