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Author SHA1 Message Date
0feb705d5b wip 2025-05-17 14:23:52 +02:00
af59978db5 branch based analysis on the assumption that it is all sequential 2025-05-03 14:10:49 +02:00
d99bb40416 Fri May 2 04:14:05 PM CEST 2025 2025-05-02 16:14:05 +02:00
cf17b63481 Fri May 2 03:31:44 PM CEST 2025 2025-05-02 15:31:44 +02:00
00a3e8c3a6 more colors 2025-04-29 14:57:17 +02:00
e3591d1664 updates 2025-04-29 10:10:07 +02:00
Christophe Bedard
18577974cf Merge branch 'version-1-0-3' into 'foxy'
Version 1.0.3

See merge request ros-tracing/tracetools_analysis!96
2021-04-02 13:25:29 +00:00
Christophe Bedard
cd30853005 1.0.3
Signed-off-by: Christophe Bedard <bedard.christophe@gmail.com>
2021-04-02 09:23:21 -04:00
Christophe Bedard
b1b6f406d9 Update changelogs
Signed-off-by: Christophe Bedard <bedard.christophe@gmail.com>
2021-04-02 09:22:07 -04:00
Christophe Bedard
1af8b5d74a Merge branch 'backports-92-use-lists-of-dicts-93-fix-pandas-deprecation' into 'foxy'
[foxy backport] Use lists of dicts as intermediate storage & convert to df at the end

See merge request ros-tracing/tracetools_analysis!95
2021-04-02 13:17:13 +00:00
Christophe Bedard
39c69ef3af Use pandas.testing instead of pandas.util.testing
Backport of d0c4a8b0db

Signed-off-by: Christophe Bedard <bedard.christophe@gmail.com>
2021-03-31 19:32:10 -04:00
Christophe Bedard
3768a177c7 Fix typing info
Backport of e73296b34a

Signed-off-by: Christophe Bedard <bedard.christophe@gmail.com>
2021-03-31 19:27:26 -04:00
Christophe Bedard
ceb6715bae Update test
Backport of d77a16db5a

Signed-off-by: Christophe Bedard <bedard.christophe@gmail.com>
2021-03-31 19:26:55 -04:00
Christophe Bedard
61a2783a4d Use lists of dicts as intermediate storage & convert to df at the end
Backport of 3431b4b7b2

Signed-off-by: Christophe Bedard <bedard.christophe@gmail.com>
2021-03-31 19:26:38 -04:00
Christophe Bedard
56ad1162a2 Merge branch '106-update-repo-url-foxy' into 'foxy'
[foxy] Update repo URL

See merge request ros-tracing/tracetools_analysis!88
2020-10-14 13:46:30 +00:00
Christophe Bedard
5e9d1eac4f Update repo URL
Signed-off-by: Christophe Bedard <bedard.christophe@gmail.com>
2020-10-14 09:27:34 -04:00
Christophe Bedard
148f146a91 Merge branch 'set-ros2-tracing-branch-to-foxy' into 'foxy'
Set ros2_tracing branch to foxy

See merge request micro-ROS/ros_tracing/tracetools_analysis!78
2020-06-25 22:21:23 +00:00
Christophe Bedard
49bae88674 Set ros2_tracing branch to foxy
Signed-off-by: Christophe Bedard <bedard.christophe@gmail.com>
2020-06-25 18:18:33 -04:00
20 changed files with 2094 additions and 166 deletions

View file

@ -1,9 +1,9 @@
variables:
DOCKER_DRIVER: overlay2
PACKAGES_LIST: tracetools_analysis ros2trace_analysis
BASE_IMAGE_ID: registry.gitlab.com/micro-ros/ros_tracing/ci_base
BASE_IMAGE_ID: registry.gitlab.com/ros-tracing/ci_base
DISTRO: foxy
ROS2TRACING_BRANCH: master
ROS2TRACING_BRANCH: foxy
stages:
- build_test
@ -23,7 +23,7 @@ stages:
before_script:
- . /root/ws/install/local_setup.sh
- python3 get_branch.py --check
- git clone https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing.git --branch $(python3 get_branch.py)
- git clone https://gitlab.com/ros-tracing/ros2_tracing.git --branch $(python3 get_branch.py)
build:
stage: build_test
@ -52,4 +52,4 @@ trigger_gen_docs:
refs:
- master
- foxy
trigger: micro-ROS/ros_tracing/tracetools_analysis-api
trigger: ros-tracing/tracetools_analysis-api

View file

@ -1,12 +1,12 @@
# tracetools_analysis
[![pipeline status](https://gitlab.com/micro-ROS/ros_tracing/tracetools_analysis/badges/master/pipeline.svg)](https://gitlab.com/micro-ROS/ros_tracing/tracetools_analysis/commits/master)
[![pipeline status](https://gitlab.com/ros-tracing/tracetools_analysis/badges/master/pipeline.svg)](https://gitlab.com/ros-tracing/tracetools_analysis/commits/master)
Analysis tools for [ROS 2 tracing](https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing).
Analysis tools for [ROS 2 tracing](https://gitlab.com/ros-tracing/ros2_tracing).
## Trace analysis
After generating a trace (see [`ros2_tracing`](https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing#tracing)), we can analyze it to extract useful execution data.
After generating a trace (see [`ros2_tracing`](https://gitlab.com/ros-tracing/ros2_tracing#tracing)), we can analyze it to extract useful execution data.
### Commands
@ -68,7 +68,7 @@ $ pip3 install bokeh
## Design
See the [`ros2_tracing` design document](https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing/blob/master/doc/design_ros_2.md), especially the [*Goals and requirements*](https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing/blob/master/doc/design_ros_2.md#goals-and-requirements) and [*Analysis*](https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing/blob/master/doc/design_ros_2.md#analysis) sections.
See the [`ros2_tracing` design document](https://gitlab.com/ros-tracing/ros2_tracing/blob/master/doc/design_ros_2.md), especially the [*Goals and requirements*](https://gitlab.com/ros-tracing/ros2_tracing/blob/master/doc/design_ros_2.md#goals-and-requirements) and [*Analysis*](https://gitlab.com/ros-tracing/ros2_tracing/blob/master/doc/design_ros_2.md#analysis) sections.
## Packages
@ -80,4 +80,4 @@ Package containing a `ros2cli` extension to perform trace analysis.
Package containing tools for analyzing trace data.
See the [API documentation](https://micro-ros.gitlab.io/ros_tracing/tracetools_analysis-api/).
See the [API documentation](https://ros-tracing.gitlab.io/tracetools_analysis-api/).

View file

@ -2,7 +2,7 @@
<?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>1.0.1</version>
<version>1.0.3</version>
<description>The trace-analysis command for ROS 2 command line tools.</description>
<maintainer email="bedard.christophe@gmail.com">Christophe Bedard</maintainer>
<license>Apache 2.0</license>

View file

@ -5,7 +5,7 @@ package_name = 'ros2trace_analysis'
setup(
name=package_name,
version='1.0.1',
version='1.0.3',
packages=find_packages(exclude=['test']),
data_files=[
('share/' + package_name, ['package.xml']),
@ -22,7 +22,7 @@ setup(
),
author='Christophe Bedard',
author_email='christophe.bedard@apex.ai',
url='https://gitlab.com/micro-ROS/ros_tracing/tracetools_analysis',
url='https://gitlab.com/ros-tracing/tracetools_analysis',
keywords=[],
description='The trace-analysis command for ROS 2 command line tools.',
long_description=(

View file

@ -2,6 +2,11 @@
Changelog for package tracetools_analysis
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
1.0.3 (2021-04-02)
------------------
* Improve performance by using lists of dicts as intermediate storage & converting to dataframes at the end
* Contributors: Christophe Bedard
1.0.0 (2020-06-02)
------------------
* Add sphinx documentation for tracetools_analysis

File diff suppressed because one or more lines are too long

View file

@ -34,9 +34,9 @@
"import sys\n",
"# Assuming a workspace with:\n",
"# src/tracetools_analysis/\n",
"# src/micro-ROS/ros_tracing/ros2_tracing/tracetools_read/\n",
"# src/ros-tracing/ros2_tracing/tracetools_read/\n",
"sys.path.insert(0, '../')\n",
"sys.path.insert(0, '../../../micro-ROS/ros_tracing/ros2_tracing/tracetools_read/')\n",
"sys.path.insert(0, '../../../ros-tracing/ros2_tracing/tracetools_read/')\n",
"import datetime as dt\n",
"\n",
"from bokeh.palettes import viridis\n",

File diff suppressed because one or more lines are too long

View file

@ -1,4 +1,4 @@
About
=====
Tools for analyzing trace data from ROS 2 systems generated by the `ros2_tracing packages <https://index.ros.org/r/ros2_tracing/gitlab-micro-ROS-ros_tracing-ros2_tracing/>`_.
Tools for analyzing trace data from ROS 2 systems generated by the `ros2_tracing packages <https://index.ros.org/r/ros2_tracing/>`_.

View file

@ -1,7 +1,7 @@
tracetools_analysis
===================
tracetools_analysis provides tools for analyzing trace data from ROS 2 systems generated by the `ros2_tracing packages <https://index.ros.org/r/ros2_tracing/gitlab-micro-ROS-ros_tracing-ros2_tracing/>`_.
tracetools_analysis provides tools for analyzing trace data from ROS 2 systems generated by the `ros2_tracing packages <https://index.ros.org/r/ros2_tracing/>`_.
.. toctree::
:maxdepth: 4

View file

@ -2,7 +2,7 @@
<?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>1.0.1</version>
<version>1.0.3</version>
<description>Tools for analysing trace data.</description>
<maintainer email="bedard.christophe@gmail.com">Christophe Bedard</maintainer>
<maintainer email="ingo.luetkebohle@de.bosch.com">Ingo Lütkebohle</maintainer>

View file

@ -7,7 +7,7 @@ package_name = 'tracetools_analysis'
setup(
name=package_name,
version='1.0.1',
version='1.0.3',
packages=find_packages(exclude=['test']),
data_files=[
('share/' + package_name, ['package.xml']),
@ -32,7 +32,7 @@ setup(
'fixed-term.christophe.bourquebedard@de.bosch.com, '
'ingo.luetkebohle@de.bosch.com'
),
url='https://gitlab.com/micro-ROS/ros_tracing/tracetools_analysis',
url='https://gitlab.com/ros-tracing/tracetools_analysis',
keywords=[],
description='Tools for analysing trace data.',
long_description=(

View file

@ -18,7 +18,7 @@ from typing import Dict
import unittest
from pandas import DataFrame
from pandas.util.testing import assert_frame_equal
from pandas.testing import assert_frame_equal
from tracetools_analysis.data_model import DataModel
from tracetools_analysis.processor import EventHandler

View file

@ -18,7 +18,7 @@ from typing import List
import unittest
from pandas import DataFrame
from pandas.util.testing import assert_frame_equal
from pandas.testing import assert_frame_equal
from tracetools_analysis.processor import Processor
from tracetools_analysis.processor.profile import ProfileHandler
@ -286,17 +286,8 @@ class TestProfileHandler(unittest.TestCase):
@staticmethod
def build_expected_df(expected_data: List[Dict[str, Any]]) -> DataFrame:
# Make sure the columns are in the same order
expected_df = DataFrame(columns=[
'tid',
'depth',
'function_name',
'parent_name',
'start_timestamp',
'duration',
'actual_duration',
])
return expected_df.append(expected_data, ignore_index=True)
# Columns should be in the same order
return DataFrame.from_dict(expected_data)
@staticmethod
def transform_fake_fields(events: List[DictEvent]) -> None:

View file

@ -1,4 +1,5 @@
# Copyright 2019 Robert Bosch GmbH
# Copyright 2021 Christophe Bedard
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
@ -14,17 +15,46 @@
"""Base data model module."""
from typing import Any
from typing import Dict
from typing import List
DataModelIntermediateStorage = List[Dict[str, Any]]
class DataModel():
"""
Container with pre-processed data for an analysis to use.
Contains data for an analysis to use. This is a middleground between trace events data and the
output data of an analysis. It uses pandas `DataFrame` directly.
output data of an analysis.
It uses native/simple Python data structures (e.g. lists of dicts) during processing, but
converts them to pandas `DataFrame` at the end.
"""
def __init__(self) -> None:
pass
self._finalized = False
def finalize(self) -> None:
"""
Finalize the data model.
Call this once data is done being generated or added to the model.
Finalization tasks are up to the inheriting/concrete class.
"""
# Avoid calling it twice for data models which might be shared
if not self._finalized:
self._finalized = True
self._finalize()
def _finalize(self) -> None:
"""
Do the finalization.
Only called once.
"""
raise NotImplementedError
def print_data(self) -> None:
"""Print the data model."""

View file

@ -1,4 +1,5 @@
# Copyright 2019 Robert Bosch GmbH
# Copyright 2021 Christophe Bedard
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
@ -17,6 +18,7 @@
import pandas as pd
from . import DataModel
from . import DataModelIntermediateStorage
class CpuTimeDataModel(DataModel):
@ -29,12 +31,7 @@ class CpuTimeDataModel(DataModel):
def __init__(self) -> None:
"""Create a CpuTimeDataModel."""
super().__init__()
self.times = pd.DataFrame(columns=[
'tid',
'start_timestamp',
'duration',
'cpu_id',
])
self._times: DataModelIntermediateStorage = []
def add_duration(
self,
@ -43,13 +40,15 @@ class CpuTimeDataModel(DataModel):
duration: int,
cpu_id: int,
) -> None:
data = {
self._times.append({
'tid': tid,
'start_timestamp': start_timestamp,
'duration': duration,
'cpu_id': cpu_id,
}
self.times = self.times.append(data, ignore_index=True)
})
def _finalize(self) -> None:
self.times = pd.DataFrame.from_dict(self._times)
def print_data(self) -> None:
print('====================CPU TIME DATA MODEL====================')

View file

@ -1,4 +1,5 @@
# Copyright 2019 Apex.AI, Inc.
# Copyright 2021 Christophe Bedard
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
@ -17,6 +18,7 @@
import pandas as pd
from . import DataModel
from . import DataModelIntermediateStorage
class MemoryUsageDataModel(DataModel):
@ -30,11 +32,7 @@ class MemoryUsageDataModel(DataModel):
def __init__(self) -> None:
"""Create a MemoryUsageDataModel."""
super().__init__()
self.memory_diff = pd.DataFrame(columns=[
'timestamp',
'tid',
'memory_diff',
])
self._memory_diff: DataModelIntermediateStorage = []
def add_memory_difference(
self,
@ -42,12 +40,14 @@ class MemoryUsageDataModel(DataModel):
tid: int,
memory_diff: int,
) -> None:
data = {
self._memory_diff.append({
'timestamp': timestamp,
'tid': tid,
'memory_diff': memory_diff,
}
self.memory_diff = self.memory_diff.append(data, ignore_index=True)
})
def _finalize(self) -> None:
self.memory_diff = pd.DataFrame.from_dict(self._memory_diff)
def print_data(self) -> None:
print('==================MEMORY USAGE DATA MODEL==================')

View file

@ -1,4 +1,5 @@
# Copyright 2019 Robert Bosch GmbH
# Copyright 2021 Christophe Bedard
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
@ -19,6 +20,7 @@ from typing import Optional
import pandas as pd
from . import DataModel
from . import DataModelIntermediateStorage
class ProfileDataModel(DataModel):
@ -32,15 +34,7 @@ class ProfileDataModel(DataModel):
def __init__(self) -> None:
"""Create a ProfileDataModel."""
super().__init__()
self.times = pd.DataFrame(columns=[
'tid',
'depth',
'function_name',
'parent_name',
'start_timestamp',
'duration',
'actual_duration',
])
self._times: DataModelIntermediateStorage = []
def add_duration(
self,
@ -52,7 +46,7 @@ class ProfileDataModel(DataModel):
duration: int,
actual_duration: int,
) -> None:
data = {
self._times.append({
'tid': tid,
'depth': depth,
'function_name': function_name,
@ -60,8 +54,10 @@ class ProfileDataModel(DataModel):
'start_timestamp': start_timestamp,
'duration': duration,
'actual_duration': actual_duration,
}
self.times = self.times.append(data, ignore_index=True)
})
def _finalize(self) -> None:
self.times = pd.DataFrame.from_dict(self._times)
def print_data(self) -> None:
print('====================PROFILE DATA MODEL====================')

View file

@ -1,4 +1,5 @@
# Copyright 2019 Robert Bosch GmbH
# Copyright 2020-2021 Christophe Bedard
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
@ -17,6 +18,7 @@
import pandas as pd
from . import DataModel
from . import DataModelIntermediateStorage
class Ros2DataModel(DataModel):
@ -30,129 +32,168 @@ class Ros2DataModel(DataModel):
"""Create a Ros2DataModel."""
super().__init__()
# 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.subscription_objects = pd.DataFrame(columns=['subscription',
'timestamp',
'subscription_handle'])
self.subscription_objects.set_index(['subscription'], 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=['reference',
'timestamp',
'callback_object'])
self.callback_objects.set_index(['reference'], 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)
self._contexts: DataModelIntermediateStorage = []
self._nodes: DataModelIntermediateStorage = []
self._publishers: DataModelIntermediateStorage = []
self._subscriptions: DataModelIntermediateStorage = []
self._subscription_objects: DataModelIntermediateStorage = []
self._services: DataModelIntermediateStorage = []
self._clients: DataModelIntermediateStorage = []
self._timers: DataModelIntermediateStorage = []
self._callback_objects: DataModelIntermediateStorage = []
self._callback_symbols: DataModelIntermediateStorage = []
# Events (multiple instances, may not have a meaningful index)
self.callback_instances = pd.DataFrame(columns=['callback_object',
'timestamp',
'duration',
'intra_process'])
self._callback_instances: DataModelIntermediateStorage = []
def add_context(
self, context_handle, timestamp, pid, version
) -> None:
self.contexts.loc[context_handle] = [timestamp, pid, version]
self._contexts.append({
'context_handle': context_handle,
'timestamp': timestamp,
'pid': pid,
'version': 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]
self._nodes.append({
'node_handle': node_handle,
'timestamp': timestamp,
'tid': tid,
'rmw_handle': rmw_handle,
'name': name,
'namespace': 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]
self._publishers.append({
'publisher_handle': handle,
'timestamp': timestamp,
'node_handle': node_handle,
'rmw_handle': rmw_handle,
'topic_name': topic_name,
'depth': depth,
})
def add_rcl_subscription(
self, handle, timestamp, node_handle, rmw_handle, topic_name, depth
) -> None:
self.subscriptions.loc[handle] = [timestamp, node_handle, rmw_handle, topic_name, depth]
self._subscriptions.append({
'subscription_handle': handle,
'timestamp': timestamp,
'node_handle': node_handle,
'rmw_handle': rmw_handle,
'topic_name': topic_name,
'depth': depth,
})
def add_rclcpp_subscription(
self, subscription_pointer, timestamp, subscription_handle
) -> None:
self.subscription_objects.loc[subscription_pointer] = [timestamp, subscription_handle]
self._subscription_objects.append({
'subscription': subscription_pointer,
'timestamp': timestamp,
'subscription_handle': subscription_handle,
})
def add_service(
self, handle, timestamp, node_handle, rmw_handle, service_name
) -> None:
self.services.loc[handle] = [timestamp, node_handle, rmw_handle, service_name]
self._services.append({
'service_handle': timestamp,
'timestamp': timestamp,
'node_handle': node_handle,
'rmw_handle': rmw_handle,
'service_name': 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]
self._clients.append({
'client_handle': handle,
'timestamp': timestamp,
'node_handle': node_handle,
'rmw_handle': rmw_handle,
'service_name': service_name,
})
def add_timer(
self, handle, timestamp, period, tid
) -> None:
self.timers.loc[handle] = [timestamp, period, tid]
self._timers.append({
'timer_handle': handle,
'timestamp': timestamp,
'period': period,
'tid': tid,
})
def add_callback_object(
self, reference, timestamp, callback_object
) -> None:
self.callback_objects.loc[reference] = [timestamp, callback_object]
self._callback_objects.append({
'reference': reference,
'timestamp': timestamp,
'callback_object': callback_object,
})
def add_callback_symbol(
self, callback_object, timestamp, symbol
) -> None:
self.callback_symbols.loc[callback_object] = [timestamp, symbol]
self._callback_symbols.append({
'callback_object': callback_object,
'timestamp': timestamp,
'symbol': symbol,
})
def add_callback_instance(
self, callback_object, timestamp, duration, intra_process
) -> None:
data = {
self._callback_instances.append({
'callback_object': callback_object,
'timestamp': timestamp,
'duration': duration,
'intra_process': intra_process,
}
self.callback_instances = self.callback_instances.append(data, ignore_index=True)
})
def _finalize(self) -> None:
# Some of the lists of dicts might be empty, and setting
# the index for an empty dataframe leads to an error
self.contexts = pd.DataFrame.from_dict(self._contexts)
if self._contexts:
self.contexts.set_index('context_handle', inplace=True, drop=True)
self.nodes = pd.DataFrame.from_dict(self._nodes)
if self._nodes:
self.nodes.set_index('node_handle', inplace=True, drop=True)
self.publishers = pd.DataFrame.from_dict(self._publishers)
if self._publishers:
self.publishers.set_index('publisher_handle', inplace=True, drop=True)
self.subscriptions = pd.DataFrame.from_dict(self._subscriptions)
if self._subscriptions:
self.subscriptions.set_index('subscription_handle', inplace=True, drop=True)
self.subscription_objects = pd.DataFrame.from_dict(self._subscription_objects)
if self._subscription_objects:
self.subscription_objects.set_index('subscription', inplace=True, drop=True)
self.services = pd.DataFrame.from_dict(self._services)
if self._services:
self.services.set_index('service_handle', inplace=True, drop=True)
self.clients = pd.DataFrame.from_dict(self._clients)
if self._clients:
self.clients.set_index('client_handle', inplace=True, drop=True)
self.timers = pd.DataFrame.from_dict(self._timers)
if self._timers:
self.timers.set_index('timer_handle', inplace=True, drop=True)
self.callback_objects = pd.DataFrame.from_dict(self._callback_objects)
if self._callback_objects:
self.callback_objects.set_index('reference', inplace=True, drop=True)
self.callback_symbols = pd.DataFrame.from_dict(self._callback_symbols)
if self._callback_symbols:
self.callback_symbols.set_index('callback_object', inplace=True, drop=True)
self.callback_instances = pd.DataFrame.from_dict(self._callback_instances)
def print_data(self) -> None:
print('====================ROS 2 DATA MODEL===================')

View file

@ -1,4 +1,5 @@
# Copyright 2019 Robert Bosch GmbH
# Copyright 2021 Christophe Bedard
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
@ -196,6 +197,15 @@ class EventHandler(Dependant):
processor.process(events)
return handler_object
def finalize(self) -> None:
"""
Finalize the event handler.
This should be called at the end, once all events have been processed.
"""
if self._data_model:
self._data_model.finalize()
class DependencySolver():
"""
@ -417,6 +427,7 @@ class Processor():
self._process_event(event)
self._progress_display.did_work()
self._progress_display.done(erase=erase_progress)
self._finalize_processing()
self._processing_done = True
def _process_event(self, event: DictEvent) -> None:
@ -450,6 +461,11 @@ class Processor():
metadata = EventMetadata(event_name, timestamp, cpu_id, procname, pid, tid)
handler_function(event, metadata)
def _finalize_processing(self) -> None:
"""Notify handlers that processing is done by calling corresponding method."""
for handler in self._expanded_handlers:
handler.finalize()
def print_data(self) -> None:
"""Print processed data."""
if self._processing_done: