75 lines
2.9 KiB
Python
75 lines
2.9 KiB
Python
# Process trace events and create ROS model
|
|
|
|
import sys
|
|
from .lttng_models import EventMetadata, get_field, get_name
|
|
|
|
def ros_process(events):
|
|
"""
|
|
Process unpickled events and create ROS model
|
|
:param events (list(dict(str:str:))): the list of events
|
|
:return the processor object
|
|
"""
|
|
processor = RosProcessor()
|
|
processor.process_events(events)
|
|
return processor
|
|
|
|
class RosProcessor():
|
|
"""
|
|
ROS-aware event processing/handling class.
|
|
Handles a trace's events and builds a model with the data.
|
|
"""
|
|
def __init__(self):
|
|
# TODO add other stuff
|
|
# Instances of callback_start for eventual matching
|
|
self._callback_starts = {}
|
|
# Callback instances, callback_address: end - start
|
|
self.callbacks_instances = {}
|
|
|
|
# Link a ROS trace event to its corresponding handling method
|
|
self._handler_map = {
|
|
'ros2:rcl_subscription_init': self._handle_subscription_init,
|
|
'ros2:rclcpp_subscription_callback_added': self._handle_subscription_callback_added,
|
|
'ros2:rclcpp_subscription_callback_start': self._handle_subscription_callback_start,
|
|
'ros2:rclcpp_subscription_callback_end': self._handle_subscription_callback_end,
|
|
}
|
|
|
|
def process_events(self, events):
|
|
"""
|
|
Process events
|
|
:param events (list(dict(str:str))): the events to process
|
|
"""
|
|
for event in events:
|
|
self._handle(event)
|
|
|
|
def _handle(self, event):
|
|
event_name = get_name(event)
|
|
handler_function = self._handler_map.get(event_name, None)
|
|
if handler_function is not None:
|
|
pid = get_field(event, 'vpid', default=get_field(event, 'pid'))
|
|
tid = get_field(event, 'vtid', default=get_field(event, 'tid'))
|
|
timestamp = get_field(event, '_timestamp')
|
|
procname = get_field(event, 'procname')
|
|
metadata = EventMetadata(event_name, pid, tid, timestamp, procname)
|
|
handler_function(event, metadata)
|
|
else:
|
|
print(f'unhandled event name: {event_name}', file=sys.stderr)
|
|
|
|
def _handle_subscription_init(self, event, metadata):
|
|
# TODO
|
|
pass
|
|
|
|
def _handle_subscription_callback_added(self, event, metadata):
|
|
# Add the callback address key and create an empty list
|
|
callback_addr = get_field(event, 'callback')
|
|
self.callbacks_instances[callback_addr] = []
|
|
|
|
def _handle_subscription_callback_start(self, event, metadata):
|
|
callback_addr = get_field(event, 'callback')
|
|
self._callback_starts[callback_addr] = metadata.timestamp
|
|
|
|
def _handle_subscription_callback_end(self, event, metadata):
|
|
callback_addr = get_field(event, 'callback')
|
|
start_timestamp = self._callback_starts.pop(callback_addr, None)
|
|
if start_timestamp is not None:
|
|
duration = metadata.timestamp - start_timestamp
|
|
self.callbacks_instances[callback_addr].append(duration)
|