ros2: support client/service instrumentation #127
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This adds support for the new client/service (i.e., RPC) instrumentation in ROS 2, see ros2/ros2_tracing#145. 1. In the objects analysis, create client and service objects 2. In the messages analysis, create the following instances: 1. Request publication 2. Request take and callback 3. Response publication 4. Response take 5. Message transport for requests and responses 3. In the messages dataprovider, display the above instances There is one limitation. Normal message publications and message takes have instrumentation that provides a "start time." For example, for message publications, the `ros2:rclcpp_publish` tracepoint is the start and the `ros2:rmw_publish` tracepoint is the end of a message publication. This allows us to attribute a duration to the publication and therefore display a time graph state. However, we only have a single tracepoint for client/service-related publication/take instances, so we do not have any duration data. For now, just hardcode a 5000 ns duration so that time graph states are visible enough. Signed-off-by: Christophe Bedard <[email protected]>
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I have to say that the ROS 2 plugin (especially the main analysis/view: messages) could use some serious refactoring/improvements, even before this PR. I'll try to find some time to do some cleanup in a separate PR. |
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This adds support for the new client/service (i.e., RPC) instrumentation in ROS 2, see ros2/ros2_tracing#145.
There is one limitation. Normal message publications and message takes have instrumentation that provides a "start time." For example, for message publications, the
ros2:rclcpp_publishtracepoint is the start and theros2:rmw_publishtracepoint is the end of a message publication. This allows us to attribute a duration to the publication and therefore display a time graph state. However, we only have a single tracepoint for client/service-related publication/take instances, so we do not have any duration data. For now, just hardcode a 5000 ns duration so that time graph states are visible enough.Example:
(trace: 2024-11-23__test_tracetools__test_service_pingpong__service-e2e.zip)
Clients (S↗️ ) and services (S↘️ ) are displayed under nodes (🔲) on the left. Chronological explanation:
/pingclient under the/test_service_pingnode sends a request (short-ish time graph state from which the outgoing arrow starts)/pingservice under the/test_service_pongnode receives (takes) the request (thinner time graph state that the incoming arrow points to, right before the long time graph state)/pingservice calls executes a callback for the request (long time graph state)/pingservice sends a response inside the request callback (time at which the outgoing arrow starts)/pingclient receives (takes) the request (thinner time graph state that the incoming arrow points to)