77 lines
2.6 KiB
Markdown
77 lines
2.6 KiB
Markdown
# tracetools_analysis
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[](https://gitlab.com/micro-ROS/ros_tracing/tracetools_analysis/commits/master)
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Analysis tools for [ROS 2 tracing](https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing).
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## Trace analysis
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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.
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### Commands
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Since CTF traces (the output format of the [LTTng](https://lttng.org/) tracer) are very slow to read, we first convert them into a single file which can be read much faster.
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```
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$ ros2 trace-analysis convert /path/to/trace/directory
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```
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Then we can process it to create a data model which could be queried for analysis.
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```
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$ ros2 trace-analysis process /path/to/trace/directory
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```
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### Jupyter
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The last command will process and output the raw data models, but to actually display results, process and analyze using a Jupyter Notebook.
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```shell
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$ jupyter notebook
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```
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Then navigate to the [`analysis/`](./tracetools_analysis/analysis/) directory, and select one of the provided notebooks, or create your own!
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For example:
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```python
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from tracetools_analysis import loading
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from tracetools_analysis import processor
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from tracetools_analysis import utils
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# Load trace directory or converted trace file
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events = loading.load_file('/path/to/trace/or/converted/file')
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# Process
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ros2_handler = processor.Ros2Handler()
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cpu_handler = processor.CpuTimeHandler()
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processor.Processor(ros2_handler, cpu_handler).process(events)
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# Use data model utils to extract information
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ros2_util = utils.ros2.Ros2DataModelUtil(ros2_handler.data)
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cpu_util = utils.cpu_time.CpuTimeDataModelUtil(cpu_handler.data)
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callback_durations = ros2_util.get_callback_durations()
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time_per_thread = cpu_util.get_time_per_thread()
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# ...
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# Display, e.g. with bokeh or matplotlib
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# ...
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```
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## Design
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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.
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## Packages
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### ros2trace_analysis
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Package containing a `ros2cli` extension to perform trace analysis.
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### tracetools_analysis
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Package containing tools for analyzing trace data.
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See the [API documentation](https://micro-ros.gitlab.io/ros_tracing/tracetools_analysis-api/).
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