72 lines
2.4 KiB
Markdown
72 lines
2.4 KiB
Markdown
# tracetools_analysis
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Analysis tools for [ROS 2 tracing](https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing).
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## Setup
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To display results, install:
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* [Jupyter](https://jupyter.org/install)
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* [Bokeh](https://bokeh.pydata.org/en/latest/docs/user_guide/quickstart.html#userguide-quickstart-install)
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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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```
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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 utils
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from tracetools_analysis.loading import load_file
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from tracetools_analysis.processor import Processor
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from tracetools_analysis.processor.cpu_time import CpuTimeHandler
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from tracetools_analysis.processor.ros2 import Ros2Handler
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# Load converted trace file
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events = load_file('/path/to/converted/file')
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# Process
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ros2_handler = Ros2Handler()
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cpu_handler = CpuTimeHandler()
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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.RosDataModelUtil(ros2_handler.data)
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cpu_util = 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 architecture*](https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing/blob/master/doc/design_ros_2.md#analysis-architecture) sections.
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