Merge branch 'analysis' into 'master'

Add basic analysis tools

See merge request ros_tracing/tracetools_analysis!1

.gitlab-ci.yml

@@ -0,0 +1,23 @@
+image: registry.gitlab.com/ros_tracing/ros2_tracing/ci-base:latest
+
+variables:
+  DOCKER_DRIVER: overlay2
+  PACKAGES_LIST: tracetools_analysis
+
+before_script:
+  - git clone https://gitlab.com/ros_tracing/ros2_tracing.git
+
+build:
+  script:
+    - colcon build --symlink-install --packages-up-to $PACKAGES_LIST
+    - colcon test --packages-select $PACKAGES_LIST
+    - colcon test-result
+  artifacts:
+    paths:
+      - install
+      - build/*/test_results/*/*.xunit.xml
+      - build/*/pytest.xml
+    reports:
+      junit:
+        - build/*/test_results/*/*.xunit.xml
+        - build/*/pytest.xml

LICENSE

@@ -0,0 +1,202 @@
+
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
+      or by an individual or Legal Entity authorized to submit on behalf of
+      the copyright owner. For the purposes of this definition, "submitted"
+      means any form of electronic, verbal, or written communication sent
+      to the Licensor or its representatives, including but not limited to
+      communication on electronic mailing lists, source code control systems,
+      and issue tracking systems that are managed by, or on behalf of, the
+      Licensor for the purpose of discussing and improving the Work, but
+      excluding communication that is conspicuously marked or otherwise
+      designated in writing by the copyright owner as "Not a Contribution."
+
+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
+
+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
+      publicly display, publicly perform, sublicense, and distribute the
+      Work and such Derivative Works in Source or Object form.
+
+   3. Grant of Patent License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      (except as stated in this section) patent license to make, have made,
+      use, offer to sell, sell, import, and otherwise transfer the Work,
+      where such license applies only to those patent claims licensable
+      by such Contributor that are necessarily infringed by their
+      Contribution(s) alone or by combination of their Contribution(s)
+      with the Work to which such Contribution(s) was submitted. If You
+      institute patent litigation against any entity (including a
+      cross-claim or counterclaim in a lawsuit) alleging that the Work
+      or a Contribution incorporated within the Work constitutes direct
+      or contributory patent infringement, then any patent licenses
+      granted to You under this License for that Work shall terminate
+      as of the date such litigation is filed.
+
+   4. Redistribution. You may reproduce and distribute copies of the
+      Work or Derivative Works thereof in any medium, with or without
+      modifications, and in Source or Object form, provided that You
+      meet the following conditions:
+
+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
+
+      (b) You must cause any modified files to carry prominent notices
+          stating that You changed the files; and
+
+      (c) You must retain, in the Source form of any Derivative Works
+          that You distribute, all copyright, patent, trademark, and
+          attribution notices from the Source form of the Work,
+          excluding those notices that do not pertain to any part of
+          the Derivative Works; and
+
+      (d) If the Work includes a "NOTICE" text file as part of its
+          distribution, then any Derivative Works that You distribute must
+          include a readable copy of the attribution notices contained
+          within such NOTICE file, excluding those notices that do not
+          pertain to any part of the Derivative Works, in at least one
+          of the following places: within a NOTICE text file distributed
+          as part of the Derivative Works; within the Source form or
+          documentation, if provided along with the Derivative Works; or,
+          within a display generated by the Derivative Works, if and
+          wherever such third-party notices normally appear. The contents
+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
+          or as an addendum to the NOTICE text from the Work, provided
+          that such additional attribution notices cannot be construed
+          as modifying the License.
+
+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
+      for use, reproduction, or distribution of Your modifications, or
+      for any such Derivative Works as a whole, provided Your use,
+      reproduction, and distribution of the Work otherwise complies with
+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
+      the brackets!)  The text should be enclosed in the appropriate
+      comment syntax for the file format. We also recommend that a
+      file or class name and description of purpose be included on the
+      same "printed page" as the copyright notice for easier
+      identification within third-party archives.
+
+   Copyright [yyyy] [name of copyright owner]
+
+   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.

README.md

@@ -0,0 +1,20 @@
+# tracetools_analysis
+
+Analysis tools for [ROS 2 tracing](https://gitlab.com/ros_tracing/ros2_tracing).
+
+# Setup
+
+To display results, install:
+
+* [Jupyter](https://jupyter.org/install)
+* [Bokeh](https://bokeh.pydata.org/en/latest/docs/user_guide/quickstart.html#userguide-quickstart-install)
+
+# Use
+
+Start Jupyter Notebook:
+
+```
+$ jupyter notebook
+```
+
+Then navigate to the [`analysis/`](./tracetools_analysis/analysis/) directory, and select one of the provided notebooks, or create your own!

tracetools_analysis/.gitignore

@@ -0,0 +1,3 @@
+*~
+*.pyc
+

tracetools_analysis/analysis/.gitignore

@@ -0,0 +1,5 @@
+*.svg
+*.png
+*.pdf
+.ipynb_checkpoints
+

tracetools_analysis/package.xml

@@ -0,0 +1,23 @@
+<?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>
+  <maintainer email="ingo.luetkebohle@de.bosch.com">Ingo Lütkebohle</maintainer>
+  <license>Apache 2.0</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>tracetools_read</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

@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/tracetools_analysis
+[install]
+install-scripts=$base/lib/tracetools_analysis

tracetools_analysis/setup.py

@@ -0,0 +1,41 @@
+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, '
+        'Ingo Lütkebohle'
+    ),
+    maintainer_email=(
+        'fixed-term.christophe.bourquebedard@de.bosch.com, '
+        'ingo.luetkebohle@de.bosch.com'
+    ),
+    author=(
+        'Christophe Bedard, '
+        'Ingo Lütkebohle'
+    ),
+    author_email=(
+        'fixed-term.christophe.bourquebedard@de.bosch.com, '
+        'ingo.luetkebohle@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='Apache 2.0',
+    tests_require=['pytest'],
+)

tracetools_analysis/test/test_copyright.py

@@ -0,0 +1,23 @@
+# 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

@@ -0,0 +1,23 @@
+# 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

@@ -0,0 +1,23 @@
+# 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

@@ -0,0 +1,16 @@
+# Copyright 2019 Robert Bosch GmbH
+#
+# 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.
+
+"""Reading and interpreting of LTTng trace data."""
+__author__ = 'Luetkebohle Ingo (CR/AEX3)'

tracetools_analysis/tracetools_analysis/analysis/__init__.py

@@ -0,0 +1,13 @@
+# Copyright 2019 Robert Bosch GmbH
+#
+# 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.

tracetools_analysis/tracetools_analysis/analysis/data_model.py

@@ -0,0 +1,168 @@
+# Copyright 2019 Robert Bosch GmbH
+#
+# 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.
+
+"""Module for 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',
+                                            'tid'])
+        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, tid
+    ) -> None:
+        self.timers.loc[handle] = [timestamp, period, tid]
+
+    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

@@ -0,0 +1,71 @@
+# Copyright 2019 Robert Bosch GmbH
+#
+# 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.
+
+"""Module for event handler."""
+
+import sys
+from typing import Callable
+from typing import Dict
+from typing import List
+
+from tracetools_read.utils import get_event_name
+from tracetools_read.utils import get_field
+
+from .lttng_models import EventMetadata
+
+
+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_event_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

@@ -0,0 +1,38 @@
+# Copyright 2019 Robert Bosch GmbH
+#
+# 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.
+
+"""Module for pickle loading."""
+
+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

@@ -0,0 +1,46 @@
+# Copyright 2019 Robert Bosch GmbH
+#
+# 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.
+
+"""Module LTTng traces/events models."""
+
+
+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

@@ -0,0 +1,212 @@
+# Copyright 2019 Robert Bosch GmbH
+#
+# 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.
+
+"""Module for trace events processor and ROS model creation."""
+
+from typing import Dict
+from typing import List
+
+from tracetools_read.utils import get_field
+
+from .data_model import DataModel
+from .handler import EventHandler
+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')
+        tid = metadata.tid
+        self._data.add_timer(handle, timestamp, period, tid)
+
+    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/analysis/utils.py

@@ -0,0 +1,231 @@
+# Copyright 2019 Robert Bosch GmbH
+#
+# 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.
+
+"""Module for data model utility class."""
+
+from datetime import datetime as dt
+from typing import Any
+from typing import Mapping
+from typing import Union
+
+from pandas import DataFrame
+
+from .data_model import DataModel
+
+
+class DataModelUtil():
+    """
+    Data model utility class.
+
+    Provides functions to get info on a data model.
+    """
+
+    def __init__(self, data_model: DataModel) -> None:
+        """
+        Constructor.
+
+        :param data_model: the data model object to use
+        """
+        self._data = data_model
+
+    def get_callback_symbols(self) -> Mapping[int, str]:
+        """
+        Get mappings between a callback object and its resolved symbol.
+
+        :return: the map
+        """
+        callback_instances = self._data.callback_instances
+        callback_symbols = self._data.callback_symbols
+
+        # Get a list of callback objects
+        callback_objects = set(callback_instances['callback_object'])
+        # Get their symbol
+        return {obj: callback_symbols.loc[obj, 'symbol'] for obj in callback_objects}
+
+    def get_callback_durations(
+        self, callback_obj: int
+    ) -> DataFrame:
+        """
+        Get durations of callback instances for a given callback object.
+
+        :param callback_obj: the callback object value
+        :return: a dataframe containing the start timestamp (datetime)
+        and duration (ms) of all callback instances for that object
+        """
+        data = self._data.callback_instances.loc[
+            self._data.callback_instances.loc[:, 'callback_object'] == callback_obj,
+            ['timestamp', 'duration']
+        ]
+        # Transform both columns to ms
+        data[['timestamp', 'duration']] = data[
+            ['timestamp', 'duration']
+        ].apply(lambda d: d / 1000000.0)
+        # Transform start timestamp column to datetime objects
+        data['timestamp'] = data['timestamp'].apply(lambda t: dt.fromtimestamp(t / 1000.0))
+        return data
+
+    def get_callback_owner_info(
+        self, callback_obj: int
+    ) -> Union[str, None]:
+        """
+        Get information about the owner of a callback.
+
+        Depending on the type of callback, it will give different kinds of info:
+          * subscription: node name, topic name
+          * timer: tid, period of timer
+          * service/client: node name, service name
+
+        :param callback_obj: the callback object value
+        :return: information about the owner of the callback, or `None` if it fails
+        """
+        # Get handle corresponding to callback object
+        handle = self._data.callback_objects.loc[
+            self._data.callback_objects['callback_object'] == callback_obj
+        ].index.values.astype(int)[0]
+
+        type_name = None
+        info = None
+        # Check if it's a timer first (since it's slightly different than the others)
+        if handle in self._data.timers.index:
+            type_name = 'Timer'
+            info = self.get_timer_handle_info(handle)
+        elif handle in self._data.publishers.index:
+            type_name = 'Publisher'
+            info = self.get_publisher_handle_info(handle)
+        elif handle in self._data.subscriptions.index:
+            type_name = 'Subscription'
+            info = self.get_subscription_handle_info(handle)
+        elif handle in self._data.services.index:
+            type_name = 'Service'
+            info = self.get_subscription_handle_info(handle)
+        elif handle in self._data.clients.index:
+            type_name = 'Client'
+            info = self.get_client_handle_info(handle)
+
+        if info is not None:
+            info = f'{type_name} -- {self.format_info_dict(info)}'
+        return info
+
+    def get_timer_handle_info(
+        self, timer_handle: int
+    ) -> Union[Mapping[str, Any], None]:
+        """
+        Get information about the owner of a timer.
+
+        :param timer_handle: the timer handle value
+        :return: a dictionary with name:value info, or `None` if it fails
+        """
+        # TODO find a way to link a timer to a specific node
+        if timer_handle not in self._data.timers.index:
+            return None
+
+        tid = self._data.timers.loc[timer_handle, 'tid']
+        period_ns = self._data.timers.loc[timer_handle, 'period']
+        period_ms = period_ns / 1000000.0
+        return {'tid': tid, 'period': f'{period_ms:.0f} ms'}
+
+    def get_publisher_handle_info(
+        self, publisher_handle: int
+    ) -> Union[Mapping[str, Any], None]:
+        """
+        Get information about a publisher handle.
+
+        :param publisher_handle: the publisher handle value
+        :return: a dictionary with name:value info, or `None` if it fails
+        """
+        if publisher_handle not in self._data.publishers.index:
+            return None
+
+        node_handle = self._data.publishers.loc[publisher_handle, 'node_handle']
+        node_handle_info = self.get_node_handle_info(node_handle)
+        topic_name = self._data.publishers.loc[publisher_handle, 'topic_name']
+        publisher_info = {'topic': topic_name}
+        return {**node_handle_info, **publisher_info}
+
+    def get_subscription_handle_info(
+        self, subscription_handle: int
+    ) -> Union[Mapping[str, Any], None]:
+        """
+        Get information about a subscription handle.
+
+        :param subscription_handle: the subscription handle value
+        :return: a dictionary with name:value info, or `None` if it fails
+        """
+        subscriptions_info = self._data.subscriptions.merge(
+            self._data.nodes,
+            left_on='node_handle',
+            right_index=True)
+        if subscription_handle not in self._data.subscriptions.index:
+            return None
+
+        node_handle = subscriptions_info.loc[subscription_handle, 'node_handle']
+        node_handle_info = self.get_node_handle_info(node_handle)
+        topic_name = subscriptions_info.loc[subscription_handle, 'topic_name']
+        subscription_info = {'topic': topic_name}
+        return {**node_handle_info, **subscription_info}
+
+    def get_service_handle_info(
+        self, service_handle: int
+    ) -> Union[Mapping[str, Any], None]:
+        """
+        Get information about a service handle.
+
+        :param service_handle: the service handle value
+        :return: a dictionary with name:value info, or `None` if it fails
+        """
+        if service_handle not in self._data.services:
+            return None
+
+        node_handle = self._data.services.loc[service_handle, 'node_handle']
+        node_handle_info = self.get_node_handle_info(node_handle)
+        service_name = self._data.services.loc[service_handle, 'service_name']
+        service_info = {'service': service_name}
+        return {**node_handle_info, **service_info}
+
+    def get_client_handle_info(
+        self, client_handle: int
+    ) -> Union[Mapping[str, Any], None]:
+        """
+        Get information about a client handle.
+
+        :param client_handle: the client handle value
+        :return: a dictionary with name:value info, or `None` if it fails
+        """
+        if client_handle not in self._data.clients:
+            return None
+
+        node_handle = self._data.clients.loc[client_handle, 'node_handle']
+        node_handle_info = self.get_node_handle_info(node_handle)
+        service_name = self._data.clients.loc[client_handle, 'service_name']
+        service_info = {'service': service_name}
+        return {**node_handle_info, **service_info}
+
+    def get_node_handle_info(
+        self, node_handle: int
+    ) -> Union[Mapping[str, Any], None]:
+        """
+        Get information about a node handle.
+
+        :param node_handle: the node handle value
+        :return: a dictionary with name:value info, or `None` if it fails
+        """
+        if node_handle not in self._data.nodes.index:
+            return None
+
+        node_name = self._data.nodes.loc[node_handle, 'name']
+        tid = self._data.nodes.loc[node_handle, 'tid']
+        return {'node': node_name, 'tid': tid}
+
+    def format_info_dict(self, info_dict: Mapping[str, Any]) -> str:
+        return ', '.join([f'{key}: {val}' for key, val in info_dict.items()])

tracetools_analysis/tracetools_analysis/conversion/__init__.py

@@ -0,0 +1,13 @@
+# Copyright 2019 Robert Bosch GmbH
+#
+# 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.

tracetools_analysis/tracetools_analysis/conversion/ctf.py

@@ -0,0 +1,57 @@
+# Copyright 2019 Robert Bosch GmbH
+#
+# 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.
+
+"""Module with CTF to pickle conversion functions."""
+
+from pickle import Pickler
+
+from tracetools_read import utils
+
+
+def ctf_to_pickle(trace_directory: str, target: Pickler) -> int:
+    """
+    Load CTF trace, convert events, and dump to a pickle file.
+
+    :param trace_directory: the trace directory
+    :param target: the target pickle file to write to
+    :return: the number of events written
+    """
+    ctf_events = utils._get_trace_ctf_events(trace_directory)
+
+    count = 0
+    count_written = 0
+
+    for event in ctf_events:
+        count += 1
+
+        pod = utils.event_to_dict(event)
+        target.dump(pod)
+        count_written += 1
+
+    return count_written
+
+
+def convert(trace_directory: str, pickle_target_path: str) -> int:
+    """
+    Convert CTF trace to pickle file.
+
+    :param trace_directory: the trace directory
+    :param pickle_target_path: the path to the pickle file that will be created
+    :return: the number of events written to the pickle file
+    """
+    with open(pickle_target_path, 'wb') as f:
+        p = Pickler(f, protocol=4)
+        count = ctf_to_pickle(trace_directory, p)
+
+    return count

tracetools_analysis/tracetools_analysis/convert.py

@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+# Copyright 2019 Robert Bosch GmbH
+#
+# 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.
+
+"""Entrypoint/script to convert CTF trace data to a pickle file."""
+
+import argparse
+import os
+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-path', '-p',
+        help='the path to the target pickle file to generate (default: $trace_directory/pickle)')
+    args = parser.parse_args()
+    if args.pickle_path is None:
+        args.pickle_path = os.path.join(args.trace_directory, 'pickle')
+    return args
+
+
+def main():
+    args = parse_args()
+
+    trace_directory = args.trace_directory
+    pickle_target_path = args.pickle_path
+
+    print(f'importing trace directory: {trace_directory}')
+    start_time = time.time()
+    count = ctf.convert(trace_directory, pickle_target_path)
+    time_diff = time.time() - start_time
+    print(f'converted {count} events in {time_diff * 1000:.2f} ms')
+    print(f'pickle written to: {pickle_target_path}')

tracetools_analysis/tracetools_analysis/process.py

@@ -0,0 +1,43 @@
+#!/usr/bin/env python3
+# Copyright 2019 Robert Bosch GmbH
+#
+# 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.
+
+"""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()