Add ros2trace_analysis command and process/convert verbs

.gitlab-ci.yml

@@ -1,6 +1,6 @@
 variables:
   DOCKER_DRIVER: overlay2
-  PACKAGES_LIST: tracetools_analysis
+  PACKAGES_LIST: tracetools_analysis ros2trace_analysis
   base_image_id: registry.gitlab.com/micro-ros/ros_tracing/ci_base
 
 .global_artifacts: &global_artifacts

ros2trace_analysis/.gitignore

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

ros2trace_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>ros2trace_analysis</name>
+  <version>0.1.1</version>
+  <description>The trace analysis command for ROS 2 command line tools.</description>
+  <maintainer email="christophe.bedard@apex.ai">Christophe Bedard</maintainer>
+  <license>Apache 2.0</license>
+  <author email="christophe.bedard@apex.ai">Christophe Bedard</author>
+
+  <depend>ros2cli</depend>
+  <depend>tracetools_analysis</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>ament_xmllint</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

ros2trace_analysis/ros2trace_analysis/__init__.py

@@ -0,0 +1,13 @@
+# Copyright 2019 Apex.AI, 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.

ros2trace_analysis/ros2trace_analysis/api/__init__.py

@@ -0,0 +1,13 @@
+# Copyright 2019 Apex.AI, 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.

ros2trace_analysis/ros2trace_analysis/command/__init__.py

@@ -0,0 +1,13 @@
+# Copyright 2019 Apex.AI, 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.

ros2trace_analysis/ros2trace_analysis/command/trace_analysis.py

@@ -0,0 +1,41 @@
+# Copyright 2019 Apex.AI, 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.
+
+"""Module for trace analysis command extension implementation."""
+
+from ros2cli.command import add_subparsers
+from ros2cli.command import CommandExtension
+from ros2cli.verb import get_verb_extensions
+
+
+class TraceAnalysisCommand(CommandExtension):
+    """Analyze traces to extract useful execution data."""
+
+    def add_arguments(self, parser, cli_name):
+        self._subparser = parser
+        # get verb extensions and let them add their arguments
+        verb_extensions = get_verb_extensions('ros2trace_analysis.verb')
+        add_subparsers(
+            parser, cli_name, '_verb', verb_extensions, required=False)
+
+    def main(self, *, parser, args):
+        if not hasattr(args, '_verb'):
+            # in case no verb was passed
+            self._subparser.print_help()
+            return 0
+
+        extension = getattr(args, '_verb')
+
+        # call the verb's main method
+        return extension.main(args=args)

ros2trace_analysis/ros2trace_analysis/verb/__init__.py

@@ -0,0 +1,13 @@
+# Copyright 2019 Apex.AI, 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.

ros2trace_analysis/ros2trace_analysis/verb/convert.py

@@ -0,0 +1,30 @@
+# Copyright 2019 Apex.AI, 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 ros2cli.verb import VerbExtension
+from tracetools_analysis.convert import add_args
+from tracetools_analysis.convert import convert
+
+
+class ConvertVerb(VerbExtension):
+    """Convert trace data to a file."""
+
+    def add_arguments(self, parser, cli_name):
+        add_args(parser)
+
+    def main(self, *, args):
+        return convert(
+            args.trace_directory,
+            args.output_file_name,
+        )

ros2trace_analysis/ros2trace_analysis/verb/process.py

@@ -0,0 +1,30 @@
+# Copyright 2019 Apex.AI, 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 ros2cli.verb import VerbExtension
+from tracetools_analysis.process import add_args
+from tracetools_analysis.process import process
+
+
+class ProcessVerb(VerbExtension):
+    """Process a file converted from a trace directory and output model data."""
+
+    def add_arguments(self, parser, cli_name):
+        add_args(parser)
+
+    def main(self, *, args):
+        return process(
+            args.input_path,
+            args.force_conversion,
+        )

ros2trace_analysis/setup.py

@@ -0,0 +1,44 @@
+from setuptools import find_packages
+from setuptools import setup
+
+package_name = 'ros2trace_analysis'
+
+setup(
+    name=package_name,
+    version='0.1.1',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['ros2cli'],
+    zip_safe=True,
+    maintainer=(
+        'Christophe Bedard'
+    ),
+    maintainer_email=(
+        'christophe.bedard@apex.ai'
+    ),
+    author='Christophe Bedard',
+    author_email='christophe.bedard@apex.ai',
+    url='https://gitlab.com/micro-ROS/ros_tracing/tracetools_analysis',
+    keywords=[],
+    description='The trace analysis command for ROS 2 command line tools.',
+    long_description=(
+        'The package provides the trace analysis '
+        'command for the ROS 2 command line tools.'
+    ),
+    license='Apache 2.0',
+    tests_require=['pytest'],
+    entry_points={
+        'ros2cli.command': [
+            f'trace-analysis = {package_name}.command.trace_analysis:TraceAnalysisCommand',
+        ],
+        'ros2cli.extension_point': [
+            f'{package_name}.verb = {package_name}.verb:VerbExtension',
+        ],
+        f'{package_name}.verb': [
+            f'convert = {package_name}.verb.convert:ConvertVerb',
+            f'process = {package_name}.verb.process:ProcessVerb',
+        ],
+    }
+)

ros2trace_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'

ros2trace_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'

ros2trace_analysis/test/test_pep257.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_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'

ros2trace_analysis/test/test_xmllint.py

@@ -0,0 +1,23 @@
+# Copyright 2019 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_xmllint.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.xmllint
+def test_xmllint():
+    rc = main(argv=[])
+    assert rc == 0, 'Found errors'

tracetools_analysis/tracetools_analysis/convert.py

@@ -18,6 +18,7 @@
 import argparse
 import os
 import time
+from typing import Optional
 
 from tracetools_analysis.conversion import ctf
 
@@ -25,24 +26,28 @@ from tracetools_analysis.conversion import ctf
 DEFAULT_CONVERT_FILE_NAME = 'converted'
 
 
-def parse_args():
-    parser = argparse.ArgumentParser(
-        description='Convert CTF trace data to a file.')
+def add_args(parser: argparse.ArgumentParser) -> None:
     parser.add_argument(
         'trace_directory',
-        help='the path to the main CTF trace directory')
+        help='the path to the main trace directory')
     parser.add_argument(
         '-o', '--output-file-name', dest='output_file_name',
         default=DEFAULT_CONVERT_FILE_NAME,
         help='the name of the output file to generate, '
         'under $trace_directory (default: %(default)s)')
+
+
+def parse_args():
+    parser = argparse.ArgumentParser(
+        description='Convert trace data to a file.')
+    add_args(parser)
     return parser.parse_args()
 
 
 def convert(
     trace_directory: str,
     output_file_name: str = DEFAULT_CONVERT_FILE_NAME,
-) -> None:
+) -> Optional[int]:
     """
     Convert trace directory to a file.
 

tracetools_analysis/tracetools_analysis/process.py

@@ -19,6 +19,7 @@ import argparse
 import os
 import sys
 import time
+from typing import Optional
 from typing import Tuple
 
 from tracetools_analysis.convert import convert
@@ -28,9 +29,7 @@ from tracetools_analysis.processor.ros2 import Ros2Handler
 from tracetools_read.trace import is_trace_directory
 
 
-def parse_args():
-    parser = argparse.ArgumentParser(description='Process a file converted from a trace '
-                                                 'directory and output model data.')
+def add_args(parser: argparse.ArgumentParser) -> None:
     parser.add_argument(
         'input_path',
         help='the path to a converted file to import and process, '
@@ -39,6 +38,12 @@ def parse_args():
         '-f', '--force-conversion', dest='force_conversion',
         action='store_true', default=False,
         help='re-convert trace directory even if converted file is found')
+
+
+def parse_args():
+    parser = argparse.ArgumentParser(description='Process a file converted from a trace '
+                                                 'directory and output model data.')
+    add_args(parser)
     return parser.parse_args()
 
 
@@ -106,7 +111,7 @@ def inspect_input_path(
 def process(
     input_path: str,
     force_conversion: bool = False,
-) -> None:
+) -> Optional[int]:
     """
     Process converted trace file.