Support traces with multiple callbacks for same pointer (#13) (#15)

Signed-off-by: Christophe Bedard <christophe.bedard@apex.ai>

tracetools_analysis/analysis/callback_duration.ipynb

@@ -77,7 +77,9 @@
   {
    "cell_type": "code",
    "execution_count": null,
-   "metadata": {},
+   "metadata": {
+    "scrolled": false
+   },
    "outputs": [],
    "source": [
     "data_util = Ros2DataModelUtil(handler.data)\n",
@@ -86,13 +88,17 @@
     "\n",
     "output_notebook()\n",
     "psize = 450\n",
+    "# If the trace contains more callbacks, add colours here\n",
+    "# or use: https://docs.bokeh.org/en/3.2.2/docs/reference/palettes.html\n",
     "colours = ['#29788E', '#DD4968', '#410967']"
    ]
   },
   {
    "cell_type": "code",
    "execution_count": null,
-   "metadata": {},
+   "metadata": {
+    "scrolled": false
+   },
    "outputs": [],
    "source": [
     "# Plot durations separately\n",
@@ -153,6 +159,7 @@
     "    )\n",
     "\n",
     "    colour_i += 1\n",
+    "    colour_i %= len(colours)\n",
     "    show(row(duration, hist))"
    ]
   },
@@ -197,6 +204,7 @@
     "        line_color=colours[colour_i],\n",
     "    )\n",
     "    colour_i += 1\n",
+    "    colour_i %= len(colours)\n",
     "    duration.legend.label_text_font_size = '11px'\n",
     "    duration.xaxis[0].formatter = DatetimeTickFormatter(seconds='%Ss')\n",
     "\n",
@@ -227,7 +235,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.10.6"
+   "version": "3.10.12"
   }
  },
  "nbformat": 4,

tracetools_analysis/tracetools_analysis/utils/ros2.py

@@ -23,6 +23,7 @@ from typing import Optional
 from typing import Union
 
 import numpy as np
+import pandas as pd
 from pandas import concat
 from pandas import DataFrame
 
@@ -119,9 +120,15 @@ class Ros2DataModelUtil(DataModelUtil):
         # Get a list of callback objects
         callback_objects = set(callback_instances['callback_object'])
         # Get their symbol
-        return {
-            obj: self._prettify(callback_symbols.loc[obj, 'symbol']) for obj in callback_objects
-        }
+        pretty_symbols = {}
+        for obj in callback_objects:
+            # There could be multiple callback symbols for the same callback object (pointer), e.g.,
+            # if we create and destroy subscriptions dynamically
+            symbols = callback_symbols.loc[obj, 'symbol']
+            symbols = symbols if isinstance(symbols, pd.Series) else [symbols]
+            # In that case, just combine the symbols
+            pretty_symbols[obj] = ' and '.join(self._prettify(symbol) for symbol in symbols)
+        return pretty_symbols
 
     def get_tids(self) -> List[str]:
         """Get a list of thread ids corresponding to the nodes."""
@@ -303,7 +310,8 @@ class Ros2DataModelUtil(DataModelUtil):
 
         if info is None:
             return None
-        return f'{type_name} -- {self.format_info_dict(info)}'
+        info_str = self.format_info_dict(info, sep='\n')
+        return f'{type_name}\n{info_str}'
 
     def get_timer_handle_info(
         self,
@@ -395,12 +403,27 @@ class Ros2DataModelUtil(DataModelUtil):
             right_index=True,
         )
 
-        node_handle = subscriptions_info.loc[subscription_reference, 'node_handle']
-        node_handle_info = self.get_node_handle_info(node_handle)
-        if node_handle_info is None:
-            return None
-        topic_name = subscriptions_info.loc[subscription_reference, 'topic_name']
+        # There could be multiple subscriptions for the same subscription object pointer, e.g., if
+        # we create and destroy subscriptions dynamically, so this subscription could belong to more
+        # than one node
+        # In that case, just combine the information
+        node_handles = subscriptions_info.loc[subscription_reference, 'node_handle']
+        node_handles = node_handles if isinstance(node_handles, pd.Series) else [node_handles]
+        topic_names = subscriptions_info.loc[subscription_reference, 'topic_name']
+        topic_names = topic_names if isinstance(topic_names, pd.Series) else [topic_names]
+        nodes_handle_info = []
+        for node_handle in node_handles:
+            node_handle_info = self.get_node_handle_info(node_handle)
+            if node_handle_info is None:
+                return None
+            nodes_handle_info.append(node_handle_info)
+        topic_name = ' and '.join(topic_names)
         subscription_info = {'topic': topic_name}
+        # Turn list of dicts into dict of combined values
+        node_handle_info = {
+            key: ' and '.join(set(str(info[key]) for info in nodes_handle_info))
+            for key in nodes_handle_info[0]
+        }
         return {**node_handle_info, **subscription_info}
 
     def get_service_handle_info(
@@ -540,5 +563,6 @@ class Ros2DataModelUtil(DataModelUtil):
     def format_info_dict(
         self,
         info_dict: Mapping[str, Any],
+        sep: str = ', ',
     ) -> str:
-        return ', '.join([f'{key}: {val}' for key, val in info_dict.items()])
+        return sep.join(f'{key}: {val}' for key, val in info_dict.items())