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Implement handling for sub callbacks

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This commit is contained in:
Christophe Bedard 2019-06-13 14:39:37 +02:00
parent c88000bede
commit 80a62cd591
2 changed files with 47 additions and 22 deletions
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26
tracetools_analysis/analysis/data_model.py
View file

@ -22,17 +22,20 @@ class DataModel():
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._subscription_callback_objects = pd.DataFrame(columns=['subscription_handle', 'timestamp', 'callback_object'])
self._subscription_callback_objects.set_index(['subscription_handle'], inplace=True, drop=True)
self._callbacks = pd.DataFrame(columns=['callback_object', 'timestamp', 'symbol'])
self._callbacks.set_index(['callback_object'], inplace=True, drop=True)
self._services = pd.DataFrame(columns=[])
self._clients = pd.DataFrame(columns=[])
self._timers = pd.DataFrame(columns=[])
# Events
# TODO
# Events (multiple instances, may not have a meaningful index)
self._subscription_callbacks = pd.DataFrame(columns=['callback_object', 'timestamp', 'duration', 'intra_process'])
def add_context(self, context_handle, timestamp, pid):
self._contexts.loc[context_handle] = [timestamp, pid]
# self._contexts = self._contexts.append({'context_handle': context_handle, 'timestamp': timestamp, 'pid': pid}, ignore_index=True)
def add_node(self, node_handle, timestamp, tid, rmw_handle, name, namespace):
self._nodes.loc[node_handle] = [timestamp, tid, rmw_handle, name, namespace]
@ -43,6 +46,15 @@ class DataModel():
def add_subscription(self, subscription_handle, timestamp, node_handle, rmw_handle, topic_name, depth):
self._subscriptions.loc[subscription_handle] = [timestamp, node_handle, rmw_handle, topic_name, depth]
def add_subscription_callback_object(self, subscription_handle, timestamp, callback_object):
self._subscription_callback_objects.loc[subscription_handle] = [timestamp, callback_object]
def add_callback(self, callback_object, timestamp, symbol):
self._callbacks.loc[callback_object] = [timestamp, symbol]
def add_subscription_callback_instance(self, callback_object, timestamp, duration, intra_process):
self._subscription_callbacks = self._subscription_callbacks.append({'callback_object': callback_object, 'timestamp': timestamp, 'duration': duration, 'intra_process': intra_process}, ignore_index=True)
def print(self):
"""Debug method to print every contained df."""
print('====================DATA MODEL====================')
@ -52,11 +64,17 @@ class DataModel():
print()
print(f'Publishers:\n{self._publishers.to_string()}')
print()
print(f'Subscription:\n{self._subscriptions.to_string()}')
print(f'Subscriptions:\n{self._subscriptions.to_string()}')
print()
print(f'Subscription callbacks:\n{self._subscription_callback_objects.to_string()}')
print()
print(f'Subscription callback instances:\n{self._subscription_callbacks.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'Callbacks:\n{self._callbacks.to_string()}')
print('==================================================')

43
tracetools_analysis/analysis/processor.py
View file

@ -66,6 +66,9 @@ class RosProcessor(EventHandler):
self._data = DataModel()
# Temporary buffers
self._callback_instances = {}
def get_data_model(self):
return self._data
@ -97,26 +100,29 @@ class RosProcessor(EventHandler):
self._data.add_subscription(sub_handle, metadata.timestamp, node_handle, rmw_handle, topic_name, depth)
def _handle_rclcpp_subscription_callback_added(self, event, metadata):
# TODO
pass
# Add the callback address key and create an empty list
# callback_addr = get_field(event, 'callback')
# self.callbacks_instances[callback_addr] = []
subscription_handle = get_field(event, 'subscription_handle')
callback_object = get_field(event, 'callback')
self._data.add_subscription_callback_object(subscription_handle, metadata.timestamp, callback_object)
def _handle_rclcpp_subscription_callback_start(self, event, metadata):
# TODO
pass
# callback_addr = get_field(event, 'callback')
# self._callback_starts[callback_addr] = metadata.timestamp
# Add to dict
callback_addr = get_field(event, 'callback')
self._callback_instances[callback_addr] = (event, metadata)
def _handle_rclcpp_subscription_callback_end(self, event, metadata):
# TODO
pass
# callback_addr = get_field(event, 'callback')
# start_timestamp = self._callback_starts.pop(callback_addr, None)
# if start_timestamp is not None:
# duration = metadata.timestamp - start_timestamp
# self.callbacks_instances[callback_addr].append((duration, start_timestamp))
# 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')
self._data.add_subscription_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 _handle_rcl_service_init(self, event, metadata):
# TODO
@ -155,5 +161,6 @@ class RosProcessor(EventHandler):
pass
def _handle_rclcpp_callback_register(self, event, metadata):
# TODO
pass
callback_object = get_field(event, 'callback')
symbol = get_field(event, 'symbol')
self._data.add_callback(callback_object, metadata.timestamp, symbol)