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ros2: support client/service instrumentation #127

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ros2: support client/service instrumentation #127

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4 changes: 4 additions & 0 deletions ...ubator.ros2.core/src/org/eclipse/tracecompass/incubator/internal/ros2/core/Activator.java
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Expand Up @@ -22,9 +22,11 @@
import org.eclipse.tracecompass.incubator.internal.ros2.core.model.messages.Ros2TakeInstance;
import org.eclipse.tracecompass.incubator.internal.ros2.core.model.messages.Ros2TimerCallbackInstance;
import org.eclipse.tracecompass.incubator.internal.ros2.core.model.objects.Ros2CallbackObject;
import org.eclipse.tracecompass.incubator.internal.ros2.core.model.objects.Ros2ClientObject;
import org.eclipse.tracecompass.incubator.internal.ros2.core.model.objects.Ros2NodeObject;
import org.eclipse.tracecompass.incubator.internal.ros2.core.model.objects.Ros2ObjectHandle;
import org.eclipse.tracecompass.incubator.internal.ros2.core.model.objects.Ros2PublisherObject;
import org.eclipse.tracecompass.incubator.internal.ros2.core.model.objects.Ros2ServiceObject;
import org.eclipse.tracecompass.incubator.internal.ros2.core.model.objects.Ros2SubscriptionObject;
import org.eclipse.tracecompass.incubator.internal.ros2.core.model.objects.Ros2TimerObject;
import org.eclipse.tracecompass.internal.provisional.statesystem.core.statevalue.CustomStateValue;
Expand Down Expand Up @@ -65,6 +67,8 @@ protected void startActions() {
CustomStateValue.registerCustomFactory(Ros2SubscriptionObject.CUSTOM_TYPE_ID, Ros2SubscriptionObject.ROS2_SUBSCRIPTION_OBJECT_VALUE_FACTORY);
CustomStateValue.registerCustomFactory(Ros2TimerObject.CUSTOM_TYPE_ID, Ros2TimerObject.ROS2_TIMER_OBJECT_VALUE_FACTORY);
CustomStateValue.registerCustomFactory(Ros2CallbackObject.CUSTOM_TYPE_ID, Ros2CallbackObject.ROS2_CALLBACK_OBJECT_VALUE_FACTORY);
CustomStateValue.registerCustomFactory(Ros2ClientObject.CUSTOM_TYPE_ID, Ros2ClientObject.ROS2_CLIENT_OBJECT_VALUE_FACTORY);
CustomStateValue.registerCustomFactory(Ros2ServiceObject.CUSTOM_TYPE_ID, Ros2ServiceObject.ROS2_SERVICE_OBJECT_VALUE_FACTORY);
// Instances (for messages analysis)
CustomStateValue.registerCustomFactory(Ros2PubInstance.CUSTOM_TYPE_ID, Ros2PubInstance.ROS2_PUB_INSTANCE_VALUE_FACTORY);
CustomStateValue.registerCustomFactory(Ros2TakeInstance.CUSTOM_TYPE_ID, Ros2TakeInstance.ROS2_TAKE_INSTANCE_VALUE_FACTORY);
Expand Down
6 changes: 6 additions & 0 deletions ...pse/tracecompass/incubator/internal/ros2/core/analysis/Ros2ObjectTimeGraphEntryModel.java
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Expand Up @@ -16,8 +16,10 @@

import org.eclipse.jdt.annotation.NonNull;
import org.eclipse.jdt.annotation.Nullable;
import org.eclipse.tracecompass.incubator.internal.ros2.core.model.objects.Ros2ClientObject;
import org.eclipse.tracecompass.incubator.internal.ros2.core.model.objects.Ros2NodeObject;
import org.eclipse.tracecompass.incubator.internal.ros2.core.model.objects.Ros2PublisherObject;
import org.eclipse.tracecompass.incubator.internal.ros2.core.model.objects.Ros2ServiceObject;
import org.eclipse.tracecompass.incubator.internal.ros2.core.model.objects.Ros2SubscriptionObject;
import org.eclipse.tracecompass.incubator.internal.ros2.core.model.objects.Ros2TimerObject;
import org.eclipse.tracecompass.tmf.core.model.timegraph.TimeGraphEntryModel;
Expand Down Expand Up @@ -72,6 +74,10 @@ private static String getEntryModelName(Ros2ObjectTimeGraphEntryModelType type,
return ((Ros2PublisherObject) object).getTopicName();
case SUBSCRIPTION:
return ((Ros2SubscriptionObject) object).getTopicName();
case CLIENT:
return ((Ros2ClientObject) object).getTopicName();
case SERVICE:
return ((Ros2ServiceObject) object).getTopicName();
case TIMER:
return getTimerPeriodAsString((Ros2TimerObject) object);
default:
Expand Down
4 changes: 4 additions & 0 deletions ...tracecompass/incubator/internal/ros2/core/analysis/Ros2ObjectTimeGraphEntryModelType.java
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Expand Up @@ -25,6 +25,10 @@ public enum Ros2ObjectTimeGraphEntryModelType {
PUBLISHER,
/** Subscription */
SUBSCRIPTION,
/** Client */
CLIENT,
/** Service */
SERVICE,
/** Timer */
TIMER;
}
117 changes: 111 additions & 6 deletions ...tracecompass/incubator/internal/ros2/core/analysis/messages/Ros2MessagesDataProvider.java
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Expand Up @@ -19,6 +19,7 @@
import java.util.Iterator;
import java.util.List;
import java.util.Map;
import java.util.Objects;
import java.util.function.Predicate;

import org.apache.commons.lang3.StringUtils;
Expand All @@ -37,9 +38,11 @@
import org.eclipse.tracecompass.incubator.internal.ros2.core.model.messages.Ros2SubCallbackInstance;
import org.eclipse.tracecompass.incubator.internal.ros2.core.model.messages.Ros2TakeInstance;
import org.eclipse.tracecompass.incubator.internal.ros2.core.model.messages.Ros2TimerCallbackInstance;
import org.eclipse.tracecompass.incubator.internal.ros2.core.model.objects.Ros2ClientObject;
import org.eclipse.tracecompass.incubator.internal.ros2.core.model.objects.Ros2NodeObject;
import org.eclipse.tracecompass.incubator.internal.ros2.core.model.objects.Ros2ObjectHandle;
import org.eclipse.tracecompass.incubator.internal.ros2.core.model.objects.Ros2PublisherObject;
import org.eclipse.tracecompass.incubator.internal.ros2.core.model.objects.Ros2ServiceObject;
import org.eclipse.tracecompass.incubator.internal.ros2.core.model.objects.Ros2SubscriptionObject;
import org.eclipse.tracecompass.incubator.internal.ros2.core.model.objects.Ros2TimerObject;
import org.eclipse.tracecompass.internal.tmf.core.model.filters.FetchParametersUtils;
Expand Down Expand Up @@ -108,7 +111,7 @@ public Ros2MessagesDataProvider(@NonNull ITmfTrace trace, @NonNull Ros2MessagesA
* @author Christophe Bedard
*/
public enum ArrowType {
/** Transport link (pub->sub over network) */
/** Transport link (pub->sub or request/response over network) */
TRANSPORT(1),
/** Callback-publication link */
CALLBACK_PUB(2),
Expand Down Expand Up @@ -206,7 +209,7 @@ public int getId() {
if (monitor != null && monitor.isCanceled()) {
return new TimeGraphModel(Collections.emptyList());
}
addRows(rows, entry, intervals, predicates, monitor);
addRows(ss, rows, entry, intervals, predicates, monitor);
}
return new TimeGraphModel(rows);
}
Expand Down Expand Up @@ -236,12 +239,39 @@ private static void queryIntervals(@NonNull ITmfStateSystem ss, TreeMultimap<Int
return predicates;
}

private void addRows(List<@NonNull ITimeGraphRowModel> rows, Map.Entry<@NonNull Long, @NonNull Integer> entry, TreeMultimap<Integer, ITmfStateInterval> intervals,
@NonNull Map<@NonNull Integer, @NonNull Predicate<@NonNull Multimap<@NonNull String, @NonNull Object>>> predicates, @Nullable IProgressMonitor monitor) {
private void addRows(@NonNull ITmfStateSystem ss, List<@NonNull ITimeGraphRowModel> rows, Map.Entry<@NonNull Long, @NonNull Integer> entry, TreeMultimap<Integer, ITmfStateInterval> intervals,
@NonNull Map<@NonNull Integer, @NonNull Predicate<@NonNull Multimap<@NonNull String, @NonNull Object>>> predicates, @Nullable IProgressMonitor monitor) throws StateSystemDisposedException {
List<@NonNull ITimeGraphState> eventList = new ArrayList<>();
for (ITmfStateInterval interval : intervals.get(entry.getValue())) {
addRow(entry, predicates, monitor, eventList, interval);
}

/**
* State system intervals for clients & services are stored under two
* attributes (send & take). However, an entry only corresponds to one
* attribute. Since we create entry models for clients & services using
* the "take" attribute, we need to do a simple workaround here to also
* create time graph states for state system intervals under the "send"
* attribute in the same client/service entry model.
*/
int quark = Objects.requireNonNull(entry.getValue());
String name = ss.getAttributeName(quark);
int parentQuark = ss.getParentAttributeQuark(quark);
int grandParentQuark = ss.getParentAttributeQuark(parentQuark);
String grandParentName = grandParentQuark != ITmfStateSystem.ROOT_ATTRIBUTE ? ss.getAttributeName(grandParentQuark) : StringUtils.EMPTY;
// If this is an entry for a "take" attribute
if (name.equals(Ros2MessagesUtil.ClientServiceInstanceType.TAKE.toString()) &&
(grandParentName.equals(Ros2MessagesUtil.LIST_CLIENTS) || grandParentName.equals(Ros2MessagesUtil.LIST_SERVICES))) {
// Find quark for "send" attribute
int clientSendQuark = ss.optQuarkRelative(parentQuark, Ros2MessagesUtil.ClientServiceInstanceType.SEND.toString());
if (ITmfStateSystem.INVALID_ATTRIBUTE != clientSendQuark) {
// Create time graph states under the same ("take") entry model
for (ITmfStateInterval interval : ss.query2D(Collections.singleton(clientSendQuark), ss.getStartTime(), ss.getCurrentEndTime())) {
addRow(entry, predicates, monitor, eventList, interval);
}
}
}

rows.add(new TimeGraphRowModel(entry.getKey(), eventList));
}

Expand All @@ -264,7 +294,7 @@ private void addRow(Map.Entry<@NonNull Long, @NonNull Integer> entry, @NonNull M

fHandleToIdMap.put(pubInstance.getPublisherHandle(), entry.getKey());
} else if (valObject instanceof Ros2SubCallbackInstance) {
// Subscription callback
// Subscription callback or service request callback
Ros2SubCallbackInstance subCallbackInstance = (Ros2SubCallbackInstance) valObject;

Ros2TakeInstance takeInstance = subCallbackInstance.getTakeInstance();
Expand All @@ -275,6 +305,13 @@ private void addRow(Map.Entry<@NonNull Long, @NonNull Integer> entry, @NonNull M
Ros2CallbackTimeGraphState callbackState = new Ros2CallbackTimeGraphState(callbackInstance);
applyFilterAndAddState(eventList, callbackState, entry.getKey(), predicates, monitor);

fHandleToIdMap.put(takeInstance.getSubscriptionHandle(), entry.getKey());
} else if (valObject instanceof Ros2TakeInstance) {
// Client response take
Ros2TakeInstance takeInstance = (Ros2TakeInstance) valObject;
Ros2TakeTimeGraphState takeState = new Ros2TakeTimeGraphState(takeInstance);
applyFilterAndAddState(eventList, takeState, entry.getKey(), predicates, monitor);

fHandleToIdMap.put(takeInstance.getSubscriptionHandle(), entry.getKey());
} else if (valObject instanceof Ros2TimerCallbackInstance) {
// Timer callback
Expand Down Expand Up @@ -311,6 +348,8 @@ private void addChildrenEntryModel(ITmfStateSystem ss, Builder<@NonNull TimeGrap
long childId = getId(child);
String name = ss.getAttributeName(child);
String parentName = quark != ITmfStateSystem.ROOT_ATTRIBUTE ? ss.getAttributeName(quark) : StringUtils.EMPTY;
int grandParentQuark = ss.getParentAttributeQuark(quark);
String grandParentName = grandParentQuark != ITmfStateSystem.ROOT_ATTRIBUTE ? ss.getAttributeName(grandParentQuark) : StringUtils.EMPTY;
if (ITmfStateSystem.ROOT_ATTRIBUTE == quark) {
if (addEntryModel(ss, builder, childId, parentId, child, Ros2ObjectTimeGraphEntryModelType.TRACE)) {
addChildren(ss, builder, child, childId);
Expand All @@ -323,9 +362,19 @@ private void addChildrenEntryModel(ITmfStateSystem ss, Builder<@NonNull TimeGrap
addEntryModel(ss, builder, childId, parentId, child, Ros2ObjectTimeGraphEntryModelType.PUBLISHER);
} else if (parentName.equals(Ros2MessagesUtil.LIST_SUBSCRIPTIONS)) {
addEntryModel(ss, builder, childId, parentId, child, Ros2ObjectTimeGraphEntryModelType.SUBSCRIPTION);
} else if (name.equals(Ros2MessagesUtil.ClientServiceInstanceType.TAKE.toString())) {
// Only use the "take" attribute as the entry model
if (grandParentName.equals(Ros2MessagesUtil.LIST_CLIENTS)) {
addEntryModel(ss, builder, childId, parentId, child, Ros2ObjectTimeGraphEntryModelType.CLIENT);
} else if (grandParentName.equals(Ros2MessagesUtil.LIST_SERVICES)) {
addEntryModel(ss, builder, childId, parentId, child, Ros2ObjectTimeGraphEntryModelType.SERVICE);
}
} else if (parentName.equals(Ros2MessagesUtil.LIST_TIMERS)) {
addEntryModel(ss, builder, childId, parentId, child, Ros2ObjectTimeGraphEntryModelType.TIMER);
} else if (name.equals(Ros2MessagesUtil.LIST_NODES) || name.equals(Ros2MessagesUtil.LIST_PUBLISHERS) || name.equals(Ros2MessagesUtil.LIST_SUBSCRIPTIONS) || name.equals(Ros2MessagesUtil.LIST_TIMERS)) {
} else if (name.equals(Ros2MessagesUtil.LIST_NODES) || name.equals(Ros2MessagesUtil.LIST_PUBLISHERS) || name.equals(Ros2MessagesUtil.LIST_SUBSCRIPTIONS) ||
name.equals(Ros2MessagesUtil.LIST_CLIENTS) || parentName.equals(Ros2MessagesUtil.LIST_CLIENTS) ||
name.equals(Ros2MessagesUtil.LIST_SERVICES) || parentName.equals(Ros2MessagesUtil.LIST_SERVICES) ||
name.equals(Ros2MessagesUtil.ClientServiceInstanceType.SEND.toString()) || name.equals(Ros2MessagesUtil.LIST_TIMERS)) {
/**
* Skip this attribute: don't add an entry model, but do proceed
* with children, effectively skipping a layer in the state system
Expand Down Expand Up @@ -372,6 +421,22 @@ private boolean addEntryModel(ITmfStateSystem ss, Builder<@NonNull TimeGraphEntr
return true;
}
break;
case CLIENT:
@Nullable
Ros2ClientObject clientObject = getClientObject(ss, quark);
if (null != clientObject) {
builder.add(new Ros2ObjectTimeGraphEntryModel(id, parentId, ss.getStartTime(), ss.getCurrentEndTime(), Ros2ObjectTimeGraphEntryModelType.CLIENT, clientObject));
return true;
}
break;
case SERVICE:
@Nullable
Ros2ServiceObject serviceObject = getServiceObject(ss, quark);
if (null != serviceObject) {
builder.add(new Ros2ObjectTimeGraphEntryModel(id, parentId, ss.getStartTime(), ss.getCurrentEndTime(), Ros2ObjectTimeGraphEntryModelType.SERVICE, serviceObject));
return true;
}
break;
case TIMER:
@Nullable
Ros2TimerObject timerObject = getTimerObject(ss, quark);
Expand Down Expand Up @@ -459,6 +524,46 @@ private boolean addEntryModel(ITmfStateSystem ss, Builder<@NonNull TimeGraphEntr
return null;
}

private @Nullable Ros2ClientObject getClientObject(ITmfStateSystem ss, int quark) {
try {
// Get client handle from a time graph state
Iterable<@NonNull ITmfStateInterval> query2d = ss.query2D(Collections.singleton(quark), ss.getStartTime(), ss.getCurrentEndTime());
for (ITmfStateInterval iTmfStateInterval : query2d) {
if(iTmfStateInterval.getValue() instanceof Ros2TakeInstance) {
@Nullable
Ros2TakeInstance responseTakeInstance = (Ros2TakeInstance) iTmfStateInterval.getValue();
if (null != responseTakeInstance) {
return Ros2ObjectsUtil.getClientObjectFromHandle(fObjectsSs, ss.getCurrentEndTime(), responseTakeInstance.getSubscriptionHandle());
}
}
}
} catch (IndexOutOfBoundsException | TimeRangeException | StateSystemDisposedException e) {
// Do nothing
}
Activator.getInstance().logError("could not get client object for entry model"); //$NON-NLS-1$
return null;
}

private @Nullable Ros2ServiceObject getServiceObject(ITmfStateSystem ss, int quark) {
try {
// Get service handle from a time graph state
Iterable<@NonNull ITmfStateInterval> query2d = ss.query2D(Collections.singleton(quark), ss.getStartTime(), ss.getCurrentEndTime());
for (ITmfStateInterval iTmfStateInterval : query2d) {
if (iTmfStateInterval.getValue() instanceof Ros2SubCallbackInstance) {
@Nullable
Ros2SubCallbackInstance subCallbackInstance = (Ros2SubCallbackInstance) iTmfStateInterval.getValue();
if (null != subCallbackInstance) {
return Ros2ObjectsUtil.getServiceObjectFromHandle(fObjectsSs, ss.getCurrentEndTime(), subCallbackInstance.getTakeInstance().getSubscriptionHandle());
}
}
}
} catch (IndexOutOfBoundsException | TimeRangeException | StateSystemDisposedException e) {
// Do nothing
}
Activator.getInstance().logError("could not get service object for entry model"); //$NON-NLS-1$
return null;
}

private @Nullable Ros2TimerObject getTimerObject(ITmfStateSystem ss, int quark) {
try {
// Get timer handle from a time graph state
Expand Down
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