def generate_launch_description():
return LaunchDescription([
Trace(
session_name='profile',
events_ust=[
'lttng_ust_cyg_profile_fast:func_entry',
'lttng_ust_cyg_profile_fast:func_exit',
'lttng_ust_statedump:start',
'lttng_ust_statedump:end',
'lttng_ust_statedump:bin_info',
'lttng_ust_statedump:build_id',
] + DEFAULT_EVENTS_ROS,
events_kernel=[
'sched_switch',
],
context_fields={
'kernel': DEFAULT_CONTEXT,
'userspace': DEFAULT_CONTEXT + ['ip'],
},
),
Node(
package='test_tracetools',
executable='test_ping',
arguments=['do_more'],
output='screen',
),
Node(
package='test_tracetools',
executable='test_pong',
arguments=['do_more'],
output='screen',
),
])
def test_action_context_per_domain(self) -> None:
self.assertIsNone(os.environ.get('LD_PRELOAD'))
tmpdir = tempfile.mkdtemp(
prefix='TestTraceAction__test_action_context_per_domain')
action = Trace(
session_name='my-session-name',
base_path=tmpdir,
events_kernel=[],
events_ust=[
'ros2:*',
'*',
],
context_fields={
'kernel': [],
'userspace': ['vpid', 'vtid'],
},
)
self._assert_launch_no_errors([action])
self._check_trace_action(action, tmpdir)
self.assertDictEqual(
action.context_fields,
{
'kernel': [],
'userspace': ['vpid', 'vtid'],
},
)
shutil.rmtree(tmpdir)
del os.environ['LD_PRELOAD']
def generate_launch_description():
return LaunchDescription([
Trace(
session_name='memory-usage',
events_ust=[
'lttng_ust_libc:malloc',
'lttng_ust_libc:calloc',
'lttng_ust_libc:realloc',
'lttng_ust_libc:free',
'lttng_ust_libc:memalign',
'lttng_ust_libc:posix_memalign',
] + DEFAULT_EVENTS_ROS,
events_kernel=[
'kmem_mm_page_alloc',
'kmem_mm_page_free',
],
),
Node(
package='test_tracetools',
executable='test_ping',
arguments=['do_more'],
output='screen',
),
Node(
package='test_tracetools',
executable='test_pong',
arguments=['do_more'],
output='screen',
),
])
def test_action_ld_preload(self) -> None:
self.assertIsNone(os.environ.get('LD_PRELOAD'))
tmpdir = tempfile.mkdtemp(
prefix='TestTraceAction__test_action_ld_preload')
action = Trace(
session_name='my-session-name',
base_path=tmpdir,
events_kernel=[],
events_ust=[
'lttng_ust_cyg_profile_fast:*',
'lttng_ust_libc:*',
'ros2:*',
'lttng_ust_pthread:*',
'lttng_ust_dl:*',
],
)
node_ping_action = Node(
package='test_tracetools',
executable='test_ping',
output='screen',
)
node_pong_action = Node(
package='test_tracetools',
executable='test_pong',
output='screen',
)
self._assert_launch_no_errors(
[action, node_ping_action, node_pong_action])
self._check_trace_action(
action,
tmpdir,
events_ust=[
'lttng_ust_cyg_profile_fast:*',
'lttng_ust_libc:*',
'ros2:*',
'lttng_ust_pthread:*',
'lttng_ust_dl:*',
],
)
# Check that LD_PRELOAD was set accordingly
ld_preload = os.environ.get('LD_PRELOAD')
assert ld_preload is not None
paths = ld_preload.split(':')
self.assertEqual(4, len(paths))
self.assertTrue(
any(p.endswith('liblttng-ust-cyg-profile-fast.so') for p in paths))
self.assertTrue(
any(p.endswith('liblttng-ust-libc-wrapper.so') for p in paths))
self.assertTrue(
any(p.endswith('liblttng-ust-pthread-wrapper.so') for p in paths))
self.assertTrue(any(p.endswith('liblttng-ust-dl.so') for p in paths))
shutil.rmtree(tmpdir)
del os.environ['LD_PRELOAD']
def generate_launch_description():
return LaunchDescription([
Trace(
session_name='clock_recorder',
events_kernel=[],
events_ust=['rostime:ros_time']
),
Node(
package='clock_recorder',
executable='recorder'
)
])
def run_and_trace(
base_path: str,
session_name_prefix: str,
ros_events: List[str],
kernel_events: List[str],
package_name: str,
node_names: List[str],
additional_actions: Union[List[Action], Action] = [],
) -> Tuple[int, str]:
"""
Run a node while tracing.
:param base_path: the base path where to put the trace directory
:param session_name_prefix: the session name prefix for the trace directory
:param ros_events: the list of ROS UST events to enable
:param kernel_events: the list of kernel events to enable
:param package_name: the name of the package to use
:param node_names: the names of the nodes to execute
:param additional_actions: the list of additional actions to prepend
:return: exit code, full generated path
"""
session_name = append_timestamp(session_name_prefix)
full_path = os.path.join(base_path, session_name)
if not isinstance(additional_actions, list):
additional_actions = [additional_actions]
launch_actions = additional_actions
# Add trace action
launch_actions.append(
Trace(
session_name=session_name,
append_timestamp=False,
base_path=base_path,
events_ust=ros_events,
events_kernel=kernel_events,
))
# Add nodes
for node_name in node_names:
n = Node(
package=package_name,
executable=node_name,
output='screen',
)
launch_actions.append(n)
ld = LaunchDescription(launch_actions)
ls = LaunchService()
ls.include_launch_description(ld)
exit_code = ls.run()
return exit_code, full_path
def generate_launch_description():
return LaunchDescription([
Trace(session_name='my-tracing-session', ),
Node(
package='test_tracetools',
executable='test_ping',
output='screen',
),
Node(
package='test_tracetools',
executable='test_pong',
output='screen',
),
])
def test_action_substitutions(self) -> None:
self.assertIsNone(os.environ.get('LD_PRELOAD'))
tmpdir = tempfile.mkdtemp(
prefix='TestTraceAction__test_action_substitutions')
self.assertIsNone(os.environ.get('TestTraceAction__event_ust', None))
os.environ['TestTraceAction__event_ust'] = 'ros2:*'
self.assertIsNone(
os.environ.get('TestTraceAction__context_field', None))
os.environ['TestTraceAction__context_field'] = 'vpid'
session_name_arg = DeclareLaunchArgument(
'session-name',
default_value='my-session-name',
description='the session name',
)
action = Trace(
session_name=LaunchConfiguration(session_name_arg.name),
base_path=TextSubstitution(text=tmpdir),
events_kernel=[],
events_ust=[
EnvironmentVariable(name='TestTraceAction__event_ust'),
TextSubstitution(text='*'),
],
context_fields={
'kernel': [],
'userspace': [
EnvironmentVariable(name='TestTraceAction__context_field'),
TextSubstitution(text='vtid'),
],
},
)
self._assert_launch_no_errors([session_name_arg, action])
self._check_trace_action(action, tmpdir)
self.assertDictEqual(
action.context_fields,
{
'kernel': [],
'userspace': ['vpid', 'vtid'],
},
)
shutil.rmtree(tmpdir)
del os.environ['TestTraceAction__event_ust']
del os.environ['TestTraceAction__context_field']
del os.environ['LD_PRELOAD']
def generate_launch_description():
return LaunchDescription([
Trace(
session_name='lifecycle-node-state',
events_kernel=[],
),
Node(
package='test_tracetools',
executable='test_lifecycle_node',
output='screen',
),
Node(
package='test_tracetools',
executable='test_lifecycle_client',
output='screen',
),
])
def test_action(self) -> None:
self.assertIsNone(os.environ.get('LD_PRELOAD'))
tmpdir = tempfile.mkdtemp(prefix='TestTraceAction__test_action')
# Disable kernel events just to not require kernel tracing for the test
action = Trace(
session_name='my-session-name',
base_path=tmpdir,
events_kernel=[],
events_ust=[
'ros2:*',
'*',
],
)
self._assert_launch_no_errors([action])
self._check_trace_action(action, tmpdir)
shutil.rmtree(tmpdir)
del os.environ['LD_PRELOAD']
def generate_launch_description():
return LaunchDescription([
Trace(
session_name='pingpong',
events_kernel=[],
),
Node(
package='test_tracetools',
executable='test_ping',
arguments=['do_more'],
output='screen',
),
Node(
package='test_tracetools',
executable='test_pong',
arguments=['do_more'],
output='screen',
),
])
def generate_launch_description():
# Get the bringup directory
bringup_dir = FindPackageShare('pendulum_bringup').find('pendulum_bringup')
# Set robot description parameters
urdf_file = os.path.join(bringup_dir, 'urdf', 'pendulum.urdf')
with open(urdf_file, 'r') as infp:
robot_desc = infp.read()
rsp_params = {'robot_description': robot_desc}
# Set parameter file path
param_file_path = os.path.join(bringup_dir, 'params',
'pendulum.param.yaml')
param_file = launch.substitutions.LaunchConfiguration(
'params', default=[param_file_path])
# Set rviz config path
rviz_cfg_path = os.path.join(bringup_dir, 'rviz/pendulum.rviz')
# Create the launch configuration variables
autostart_param = DeclareLaunchArgument(
name='autostart',
default_value='True',
description='Automatically start lifecycle nodes')
priority_param = DeclareLaunchArgument(name='priority',
default_value='0',
description='Set process priority')
cpu_affinity_param = DeclareLaunchArgument(
name='cpu-affinity',
default_value='0',
description='Set process CPU affinity')
with_lock_memory_param = DeclareLaunchArgument(
name='lock-memory',
default_value='False',
description='Lock the process memory')
lock_memory_size_param = DeclareLaunchArgument(
name='lock-memory-size',
default_value='0',
description='Set lock memory size in MB')
config_child_threads_param = DeclareLaunchArgument(
name='config-child-threads',
default_value='False',
description='Configure process child threads (typically DDS threads)')
driver_enable_param = DeclareLaunchArgument(
name='driver-enable',
default_value='True',
description='Enable/disable pendulum driver nodes')
controller_enable_param = DeclareLaunchArgument(
name='controller-enable',
default_value='True',
description='Enable/disable controller driver nodes')
with_rviz_param = DeclareLaunchArgument(
'rviz',
default_value='False',
description='Launch RVIZ2 in addition to other nodes')
trace_param = DeclareLaunchArgument(
'trace',
default_value='False',
description='Launch ROS tracing action')
trace_memory_param = DeclareLaunchArgument(
'trace-memory',
default_value='False',
description=
'Launch ROS tracing action with memory functions tracing enabled')
# Node definitions
pendulum_demo_runner = Node(
package='pendulum_demo',
executable='pendulum_demo',
output='screen',
parameters=[param_file],
arguments=[
'--autostart',
LaunchConfiguration('autostart'),
'--priority',
LaunchConfiguration('priority'),
'--cpu-affinity',
LaunchConfiguration('cpu-affinity'),
'--lock-memory',
LaunchConfiguration('lock-memory'),
'--lock-memory-size',
LaunchConfiguration('lock-memory-size'),
'--config-child-threads',
LaunchConfiguration('config-child-threads'),
'--driver-enable',
LaunchConfiguration('driver-enable'),
'--controller-enable',
LaunchConfiguration('controller-enable'),
])
robot_state_publisher_runner = Node(package='robot_state_publisher',
executable='robot_state_publisher',
output='screen',
parameters=[rsp_params],
condition=IfCondition(
LaunchConfiguration('rviz')))
rviz_runner = Node(package='rviz2',
executable='rviz2',
name='rviz2',
arguments=['-d', str(rviz_cfg_path)],
condition=IfCondition(LaunchConfiguration('rviz')))
# Create tracing runners
ros_tracing = Trace(session_name='pendulum',
events_kernel=[],
condition=IfCondition(LaunchConfiguration('trace')))
ros_tracing_memory_usage = Trace(session_name='pendulum-memory-usage',
events_ust=[
'lttng_ust_libc:malloc',
'lttng_ust_libc:calloc',
'lttng_ust_libc:realloc',
'lttng_ust_libc:free',
'lttng_ust_libc:memalign',
'lttng_ust_libc:posix_memalign',
] + DEFAULT_EVENTS_ROS,
events_kernel=[
'kmem_mm_page_alloc',
'kmem_mm_page_free',
],
condition=IfCondition(
LaunchConfiguration('trace-memory')))
return LaunchDescription([
trace_param, trace_memory_param, ros_tracing, ros_tracing_memory_usage,
autostart_param, priority_param, cpu_affinity_param,
with_lock_memory_param, lock_memory_size_param,
config_child_threads_param, driver_enable_param,
controller_enable_param, with_rviz_param, robot_state_publisher_runner,
pendulum_demo_runner, rviz_runner
])