Implement handlers for one-time events/object creation
This commit is contained in:
Christophe Bedard
parent
08ec9c30b2
commit
c88000bede
3 changed files with 70 additions and 32 deletions
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@ -14,10 +14,15 @@ class DataModel():
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def __init__(self):
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# Objects (one-time events, usually when something is created)
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self._contexts = pd.DataFrame(columns=[])
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self._nodes = pd.DataFrame(columns=[])
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self._publishers = pd.DataFrame(columns=[])
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self._subscriptions = pd.DataFrame(columns=[])
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self._contexts = pd.DataFrame(columns=['context_handle', 'timestamp', 'pid'])
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self._contexts.set_index(['context_handle'], inplace=True, drop=True)
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self._nodes = pd.DataFrame(columns=['node_handle', 'timestamp', 'tid', 'rmw_handle', 'name', 'namespace'])
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self._nodes.set_index(['node_handle'], inplace=True, drop=True)
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self._publishers = pd.DataFrame(columns=['publisher_handle', 'timestamp', 'node_handle', 'rmw_handle', 'topic_name', 'depth'])
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self._publishers.set_index(['publisher_handle'], inplace=True, drop=True)
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self._subscriptions = pd.DataFrame(columns=['subscription_handle', 'timestamp', 'node_handle', 'rmw_handle', 'topic_name', 'depth'])
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self._subscriptions.set_index(['subscription_handle'], inplace=True, drop=True)
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self._services = pd.DataFrame(columns=[])
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self._clients = pd.DataFrame(columns=[])
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self._timers = pd.DataFrame(columns=[])
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@ -25,15 +30,33 @@ class DataModel():
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# Events
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# TODO
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def add_context(self, context_handle, timestamp, pid):
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self._contexts.loc[context_handle] = [timestamp, pid]
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# self._contexts = self._contexts.append({'context_handle': context_handle, 'timestamp': timestamp, 'pid': pid}, ignore_index=True)
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def add_node(self, node_handle, timestamp, tid, rmw_handle, name, namespace):
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self._nodes.loc[node_handle] = [timestamp, tid, rmw_handle, name, namespace]
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def add_publisher(self, publisher_handle, timestamp, node_handle, rmw_handle, topic_name, depth):
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self._publishers.loc[publisher_handle] = [timestamp, node_handle, rmw_handle, topic_name, depth]
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def add_subscription(self, subscription_handle, timestamp, node_handle, rmw_handle, topic_name, depth):
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self._subscriptions.loc[subscription_handle] = [timestamp, node_handle, rmw_handle, topic_name, depth]
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def print(self):
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"""Debug method to print every contained df."""
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print('====================DATA MODEL====================')
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print(f'Contexts:\n{self._contexts.to_string()}')
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print()
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print(f'Nodes:\n{self._nodes.to_string()}')
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print()
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print(f'Publishers:\n{self._publishers.to_string()}')
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print()
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print(f'Subscription:\n{self._subscriptions.to_string()}')
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print()
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print(f'Services:\n{self._services.to_string()}')
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print()
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print(f'Clients:\n{self._clients.to_string()}')
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print()
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print(f'Timers:\n{self._timers.to_string()}')
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print('==================================================')
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@ -2,6 +2,7 @@
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from .handler import EventHandler
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from .lttng_models import get_field
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from .data_model import DataModel
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def ros_process(events):
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@ -63,43 +64,59 @@ class RosProcessor(EventHandler):
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}
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super().__init__(handler_map)
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# TODO add other stuff
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# Instances of callback_start for eventual matching
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self._callback_starts = {}
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# Callback instances, callback_address: (end - start, start)
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self.callbacks_instances = {}
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self._data = DataModel()
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def get_data_model(self):
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return self._data
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def _handle_rcl_init(self, event, metadata):
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# TODO
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pass
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context_handle = get_field(event, 'context_handle')
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self._data.add_context(context_handle, metadata.timestamp, metadata.pid)
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def _handle_rcl_node_init(self, event, metadata):
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# TODO
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pass
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node_handle = get_field(event, 'node_handle')
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rmw_handle = get_field(event, 'rmw_handle')
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name = get_field(event, 'node_name')
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namespace = get_field(event, 'namespace')
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self._data.add_node(node_handle, metadata.timestamp, metadata.tid, rmw_handle, name, namespace)
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def _handle_rcl_publisher_init(self, event, metadata):
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# TODO
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pass
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pub_handle = get_field(event, 'publisher_handle')
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node_handle = get_field(event, 'node_handle')
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rmw_handle = get_field(event, 'rmw_publisher_handle')
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topic_name = get_field(event, 'topic_name')
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depth = get_field(event, 'depth')
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self._data.add_publisher(pub_handle, metadata.timestamp, node_handle, rmw_handle, topic_name, depth)
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def _handle_subscription_init(self, event, metadata):
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# TODO
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pass
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sub_handle = get_field(event, 'subscription_handle')
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node_handle = get_field(event, 'node_handle')
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rmw_handle = get_field(event, 'rmw_subscription_handle')
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topic_name = get_field(event, 'topic_name')
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depth = get_field(event, 'depth')
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self._data.add_subscription(sub_handle, metadata.timestamp, node_handle, rmw_handle, topic_name, depth)
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def _handle_rclcpp_subscription_callback_added(self, event, metadata):
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# TODO
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pass
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# Add the callback address key and create an empty list
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callback_addr = get_field(event, 'callback')
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self.callbacks_instances[callback_addr] = []
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# callback_addr = get_field(event, 'callback')
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# self.callbacks_instances[callback_addr] = []
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def _handle_rclcpp_subscription_callback_start(self, event, metadata):
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callback_addr = get_field(event, 'callback')
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self._callback_starts[callback_addr] = metadata.timestamp
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# TODO
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pass
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# callback_addr = get_field(event, 'callback')
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# self._callback_starts[callback_addr] = metadata.timestamp
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def _handle_rclcpp_subscription_callback_end(self, event, metadata):
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callback_addr = get_field(event, 'callback')
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start_timestamp = self._callback_starts.pop(callback_addr, None)
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if start_timestamp is not None:
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duration = metadata.timestamp - start_timestamp
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self.callbacks_instances[callback_addr].append((duration, start_timestamp))
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# TODO
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pass
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# callback_addr = get_field(event, 'callback')
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# start_timestamp = self._callback_starts.pop(callback_addr, None)
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# if start_timestamp is not None:
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# duration = metadata.timestamp - start_timestamp
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# self.callbacks_instances[callback_addr].append((duration, start_timestamp))
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def _handle_rcl_service_init(self, event, metadata):
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# TODO
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@ -4,8 +4,8 @@
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import argparse
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import pickle
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from tracetools_analysis.analysis import ros_processor, to_pandas
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from tracetools_analysis.analysis import processor, to_pandas
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from tracetools_analysis.analysis import data_model
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def parse_args():
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parser = argparse.ArgumentParser(description='Process a pickle file generated from tracing and analyze the data.')
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@ -21,11 +21,9 @@ def main():
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with open(pickle_filename, 'rb') as f:
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events = _get_events_from_pickled_file(f)
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print(f'imported {len(events)} events')
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processor = ros_processor.ros_process(events)
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df = to_pandas.callback_durations_to_df(processor)
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print(df.to_string())
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p = processor.ros_process(events)
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p.get_data_model().print()
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def _get_events_from_pickled_file(file):
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p = pickle.Unpickler(file)
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