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 __init__(
self,
*,
session_name: str,
append_timestamp: bool = False,
base_path: Optional[str] = None,
events_ust: List[str] = names.DEFAULT_EVENTS_ROS,
events_kernel: List[str] = names.DEFAULT_EVENTS_KERNEL,
context_names: List[str] = names.DEFAULT_CONTEXT,
profile_fast: bool = True,
**kwargs,
) -> None:
"""
Create a Trace.
:param session_name: the name of the tracing session
:param append_timestamp: whether to append timestamp to the session name
:param base_path: the path to the base directory in which to create the session directory,
or `None` for default
:param events_ust: the list of ROS UST events to enable
:param events_kernel: the list of kernel events to enable
:param context_names: the list of context names to enable
:param profile_fast: `True` to use fast profiling, `False` for normal (only if necessary)
"""
super().__init__(**kwargs)
if append_timestamp:
session_name = path.append_timestamp(session_name)
self.__session_name = session_name
self.__base_path = base_path or path.get_tracing_directory()
self.__events_ust = events_ust
self.__events_kernel = events_kernel
self.__context_names = context_names
self.__profile_fast = profile_fast
self.__logger = logging.get_logger(__name__)
self.__ld_preload_actions: List[LdPreload] = []
# Add LD_PRELOAD actions if corresponding events are enabled
if self.has_profiling_events(self.__events_ust):
self.__ld_preload_actions.append(
LdPreload(self.LIB_PROFILE_FAST if profile_fast else self.LIB_PROFILE_NORMAL)
)
if self.has_ust_memory_events(self.__events_ust):
self.__ld_preload_actions.append(
LdPreload(self.LIB_MEMORY_UST)
)
def __perform_substitutions(self, context: LaunchContext) -> None:
self.__session_name = perform_substitutions(context,
self.__session_name)
if self.__append_timestamp:
self.__session_name = path.append_timestamp(self.__session_name)
self.__base_path = perform_substitutions(context, self.__base_path) \
if self.__base_path else path.get_tracing_directory()
self.__events_ust = [
perform_substitutions(context, x) for x in self.__events_ust
]
self.__events_kernel = [
perform_substitutions(context, x) for x in self.__events_kernel
]
self.__context_fields = \
{
domain: [perform_substitutions(context, field) for field in fields]
for domain, fields in self.__context_fields.items()
} \
if isinstance(self.__context_fields, dict) \
else [perform_substitutions(context, field) for field in self.__context_fields]
# Add LD_PRELOAD actions if corresponding events are enabled
if self.has_libc_wrapper_events(self.__events_ust):
self.__ld_preload_actions.append(LdPreload(self.LIB_LIBC_WRAPPER))
if self.has_pthread_wrapper_events(self.__events_ust):
self.__ld_preload_actions.append(
LdPreload(self.LIB_PTHREAD_WRAPPER))
if self.has_dl_events(self.__events_ust):
self.__ld_preload_actions.append(LdPreload(self.LIB_DL))
# Warn if events match both normal AND fast profiling libs
has_fast_profiling_events = self.has_profiling_events(
self.__events_ust, True)
has_normal_profiling_events = self.has_profiling_events(
self.__events_ust, False)
# In practice, the first lib in the LD_PRELOAD list will be used, so the fast one here
if has_fast_profiling_events:
self.__ld_preload_actions.append(LdPreload(self.LIB_PROFILE_FAST))
if has_normal_profiling_events:
self.__ld_preload_actions.append(LdPreload(
self.LIB_PROFILE_NORMAL))
if has_normal_profiling_events and has_fast_profiling_events:
self.__logger.warning(
'events match both normal and fast profiling shared libraries')
def __init__(
self,
*,
session_name: str,
append_timestamp: bool = False,
base_path: str = path.DEFAULT_BASE_PATH,
events_ust: List[str] = names.DEFAULT_EVENTS_ROS,
events_kernel: List[str] = names.DEFAULT_EVENTS_KERNEL,
profile_fast: bool = True,
**kwargs,
) -> None:
"""
Constructor.
:param session_name: the name of the tracing session
:param append_timestamp: whether to append timestamp to the session name
:param base_path: the path to the base directory in which to create the session directory
:param events_ust: the list of ROS UST events to enable
:param events_kernel: the list of kernel events to enable
:param profile_fast: `True` to use fast profiling, `False` for normal (only if necessary)
"""
super().__init__(**kwargs)
if append_timestamp:
session_name = path.append_timestamp(session_name)
self.__session_name = session_name
self.__base_path = base_path
self.__events_ust = events_ust
self.__events_kernel = events_kernel
self.__profile_fast = profile_fast
self.__ld_preload_action = None
if self.has_profiling_events(events_ust):
profile_lib_name = self.PROFILE_LIB_FAST if profile_fast else self.PROFILE_LIB_NORMAL
profile_lib_path = self.get_shared_lib_path(profile_lib_name)
if profile_lib_path is not None:
self.__ld_preload_action = SetEnvironmentVariable(
'LD_PRELOAD',
profile_lib_path,
)