ros2: add causal message links analysis This collects user-level annotation data for causal links between publishers and subscriptions. This can then later be used by other analyses to find causal links between specific messages. Signed-off-by: Christophe Bedard <bedard.christophe@gmail.com> Change-Id: I8e91bf7640b5e59e99b94448fe2b8c5d6debc446 Reviewed-on: https://git.eclipse.org/r/c/tracecompass.incubator/org.eclipse.tracecompass.incubator/+/192550 Tested-by: Trace Compass Bot <tracecompass-bot@eclipse.org>
diff --git a/tracetypes/org.eclipse.tracecompass.incubator.ros2.core/META-INF/MANIFEST.MF b/tracetypes/org.eclipse.tracecompass.incubator.ros2.core/META-INF/MANIFEST.MF index b08c5f4..27bc07d 100644 --- a/tracetypes/org.eclipse.tracecompass.incubator.ros2.core/META-INF/MANIFEST.MF +++ b/tracetypes/org.eclipse.tracecompass.incubator.ros2.core/META-INF/MANIFEST.MF
@@ -26,6 +26,7 @@ org.eclipse.tracecompass.incubator.internal.ros2.core.analysis.objects, org.eclipse.tracecompass.incubator.internal.ros2.core.model, org.eclipse.tracecompass.incubator.internal.ros2.core.model.executor, + org.eclipse.tracecompass.incubator.internal.ros2.core.model.messagelinks, org.eclipse.tracecompass.incubator.internal.ros2.core.model.messages, org.eclipse.tracecompass.incubator.internal.ros2.core.model.objects, org.eclipse.tracecompass.incubator.internal.ros2.core.trace;x-friends:="org.eclipse.tracecompass.incubator.ros2.core.tests,org.eclipse.tracecompass.incubator.ros2.ui",
diff --git a/tracetypes/org.eclipse.tracecompass.incubator.ros2.core/plugin.properties b/tracetypes/org.eclipse.tracecompass.incubator.ros2.core/plugin.properties index 627428b..4dd636a 100644 --- a/tracetypes/org.eclipse.tracecompass.incubator.ros2.core/plugin.properties +++ b/tracetypes/org.eclipse.tracecompass.incubator.ros2.core/plugin.properties
@@ -18,4 +18,5 @@ analysis.ros2 = ROS 2 (Incubator) analysis.ros2.objects = ROS 2 Objects analysis.ros2.messages = ROS 2 Messages -analysis.ros2.executor = ROS 2 Executor \ No newline at end of file +analysis.ros2.executor = ROS 2 Executor +analysis.ros2.messagelinks = ROS 2 Message Links \ No newline at end of file
diff --git a/tracetypes/org.eclipse.tracecompass.incubator.ros2.core/plugin.xml b/tracetypes/org.eclipse.tracecompass.incubator.ros2.core/plugin.xml index fd9b61c..2f3f383 100644 --- a/tracetypes/org.eclipse.tracecompass.incubator.ros2.core/plugin.xml +++ b/tracetypes/org.eclipse.tracecompass.incubator.ros2.core/plugin.xml
@@ -67,6 +67,22 @@ class="org.eclipse.tracecompass.incubator.internal.ros2.core.trace.Ros2Experiment"> </tracetype> </module> + <module + analysis_module="org.eclipse.tracecompass.incubator.internal.ros2.core.analysis.messagelinks.Ros2MessageCausalLinksAnalysis" + applies_experiment="true" + automatic="false" + icon="icons/ros2.png" + id="org.eclipse.tracecompass.incubator.ros2.core.analysis.messagelinks" + name="%analysis.ros2.messagelinks"> + <tracetype + applies="true" + class="org.eclipse.tracecompass.incubator.internal.ros2.core.trace.Ros2Trace"> + </tracetype> + <tracetype + applies="true" + class="org.eclipse.tracecompass.incubator.internal.ros2.core.trace.Ros2Experiment"> + </tracetype> + </module> </extension> <extension point="org.eclipse.tracecompass.tmf.core.dataprovider">
diff --git a/tracetypes/org.eclipse.tracecompass.incubator.ros2.core/src/org/eclipse/tracecompass/incubator/internal/ros2/core/analysis/messagelinks/Ros2MessageCausalLinksAnalysis.java b/tracetypes/org.eclipse.tracecompass.incubator.ros2.core/src/org/eclipse/tracecompass/incubator/internal/ros2/core/analysis/messagelinks/Ros2MessageCausalLinksAnalysis.java new file mode 100644 index 0000000..79cbef8 --- /dev/null +++ b/tracetypes/org.eclipse.tracecompass.incubator.ros2.core/src/org/eclipse/tracecompass/incubator/internal/ros2/core/analysis/messagelinks/Ros2MessageCausalLinksAnalysis.java
@@ -0,0 +1,83 @@ +/********************************************************************** + * Copyright (c) 2022 École Polytechnique de Montréal + * + * All rights reserved. This program and the accompanying materials are + * made available under the terms of the Eclipse Public License 2.0 which + * accompanies this distribution, and is available at + * https://www.eclipse.org/legal/epl-2.0/ + * + * SPDX-License-Identifier: EPL-2.0 + **********************************************************************/ + +package org.eclipse.tracecompass.incubator.internal.ros2.core.analysis.messagelinks; + +import java.util.Collections; +import java.util.Objects; + +import org.eclipse.jdt.annotation.NonNull; +import org.eclipse.jdt.annotation.Nullable; +import org.eclipse.tracecompass.incubator.internal.ros2.core.analysis.AbstractRos2StateSystemAnalysis; +import org.eclipse.tracecompass.incubator.internal.ros2.core.analysis.IRos2ModelProvider; +import org.eclipse.tracecompass.incubator.internal.ros2.core.analysis.objects.Ros2ObjectsAnalysis; +import org.eclipse.tracecompass.incubator.internal.ros2.core.model.messagelinks.Ros2MessageCausalLinksModel; +import org.eclipse.tracecompass.statesystem.core.ITmfStateSystem; +import org.eclipse.tracecompass.tmf.core.analysis.IAnalysisModule; +import org.eclipse.tracecompass.tmf.core.statesystem.ITmfStateProvider; +import org.eclipse.tracecompass.tmf.core.trace.ITmfTrace; +import org.eclipse.tracecompass.tmf.core.trace.TmfTraceUtils; + +/** + * ROS 2 message causal links analysis. Collects causal links information from + * annotations. + * + * @author Christophe Bedard + */ +public class Ros2MessageCausalLinksAnalysis extends AbstractRos2StateSystemAnalysis implements IRos2ModelProvider<Ros2MessageCausalLinksModel> { + + private static final @NonNull String ID_SUFFIX = ".messagelinks"; //$NON-NLS-1$ + + private Ros2MessageCausalLinksModel fModel; + + /** + * Constructor + */ + public Ros2MessageCausalLinksAnalysis() { + super(getFullAnalysisId()); + fModel = new Ros2MessageCausalLinksModel(); + } + + /** + * @return the full ID of this analysis module + */ + public static @NonNull String getFullAnalysisId() { + return AbstractRos2StateSystemAnalysis.getAnalysisIdFromSuffix(ID_SUFFIX); + } + + @Override + public @Nullable Ros2MessageCausalLinksModel getModel() { + return fModel; + } + + @Override + protected @NonNull ITmfStateProvider createStateProvider() { + @NonNull + ITmfTrace trace = Objects.requireNonNull(getTrace()); + // Provide objects state system and (empty) message links model + ITmfStateSystem ss = getStateSystem(trace, Ros2ObjectsAnalysis.getFullAnalysisId()); + return new Ros2MessageCausalLinksStateProvider(trace, Objects.requireNonNull(ss), fModel); + } + + @Override + protected @NonNull Iterable<@NonNull IAnalysisModule> getDependentAnalyses() { + ITmfTrace trace = getTrace(); + if (trace == null) { + return Collections.emptySet(); + } + // Depends on the objects analysis + Ros2ObjectsAnalysis objectsAnalysis = TmfTraceUtils.getAnalysisModuleOfClass(trace, Ros2ObjectsAnalysis.class, Ros2ObjectsAnalysis.getFullAnalysisId()); + if (objectsAnalysis == null) { + return Collections.emptySet(); + } + return Collections.singleton(objectsAnalysis); + } +}
diff --git a/tracetypes/org.eclipse.tracecompass.incubator.ros2.core/src/org/eclipse/tracecompass/incubator/internal/ros2/core/analysis/messagelinks/Ros2MessageCausalLinksStateProvider.java b/tracetypes/org.eclipse.tracecompass.incubator.ros2.core/src/org/eclipse/tracecompass/incubator/internal/ros2/core/analysis/messagelinks/Ros2MessageCausalLinksStateProvider.java new file mode 100644 index 0000000..31490eb --- /dev/null +++ b/tracetypes/org.eclipse.tracecompass.incubator.ros2.core/src/org/eclipse/tracecompass/incubator/internal/ros2/core/analysis/messagelinks/Ros2MessageCausalLinksStateProvider.java
@@ -0,0 +1,97 @@ +/********************************************************************** + * Copyright (c) 2022 École Polytechnique de Montréal + * + * All rights reserved. This program and the accompanying materials are + * made available under the terms of the Eclipse Public License 2.0 which + * accompanies this distribution, and is available at + * https://www.eclipse.org/legal/epl-2.0/ + * + * SPDX-License-Identifier: EPL-2.0 + **********************************************************************/ + +package org.eclipse.tracecompass.incubator.internal.ros2.core.analysis.messagelinks; + +import java.util.Collection; +import java.util.Objects; +import java.util.stream.Collectors; +import java.util.stream.LongStream; + +import org.eclipse.jdt.annotation.NonNull; +import org.eclipse.tracecompass.incubator.internal.ros2.core.analysis.AbstractRos2StateProvider; +import org.eclipse.tracecompass.incubator.internal.ros2.core.model.messagelinks.Ros2MessageCausalLinkType; +import org.eclipse.tracecompass.incubator.internal.ros2.core.model.messagelinks.Ros2MessageCausalLinksModel; +import org.eclipse.tracecompass.incubator.internal.ros2.core.model.objects.Ros2ObjectHandle; +import org.eclipse.tracecompass.statesystem.core.ITmfStateSystem; +import org.eclipse.tracecompass.tmf.core.event.ITmfEvent; +import org.eclipse.tracecompass.tmf.core.statesystem.ITmfStateProvider; +import org.eclipse.tracecompass.tmf.core.trace.ITmfTrace; + +/** + * State provider for the ROS 2 message causal links analysis. + * + * @author Christophe Bedard + */ +public class Ros2MessageCausalLinksStateProvider extends AbstractRos2StateProvider { + + private static final int VERSION_NUMBER = 0; + + private final ITmfStateSystem fObjectsSs; + private final Ros2MessageCausalLinksModel fModel; + + /** + * Constructor + * + * @param trace + * the trace + * @param objectsSs + * the objects state system + * @param model + * the message links model + */ + public Ros2MessageCausalLinksStateProvider(ITmfTrace trace, ITmfStateSystem objectsSs, Ros2MessageCausalLinksModel model) { + super(trace, Ros2MessageCausalLinksAnalysis.getFullAnalysisId()); + fObjectsSs = objectsSs; + fModel = model; + } + + @Override + public int getVersion() { + return VERSION_NUMBER; + } + + @Override + public @NonNull ITmfStateProvider getNewInstance() { + return new Ros2MessageCausalLinksStateProvider(getTrace(), fObjectsSs, fModel); + } + + @Override + protected void eventHandle(@NonNull ITmfEvent event) { + if (!considerEvent(event)) { + return; + } + + /** + * No need to actually fill in the state system or use the event + * timestamps. + */ + + // Periodic async + if (isEvent(event, LAYOUT.eventMessageLinkPeriodicAsync())) { + long[] subs = (long[]) getField(event, LAYOUT.fieldSubs()); + long[] pubs = (long[]) getField(event, LAYOUT.fieldPubs()); + + fModel.addLink(toHandles(event, subs), toHandles(event, pubs), Ros2MessageCausalLinkType.PERIODIC_ASYNC); + } + // Partial sync + else if (isEvent(event, LAYOUT.eventMessageLinkPartialSync())) { + long[] subs = (long[]) getField(event, LAYOUT.fieldSubs()); + long[] pubs = (long[]) getField(event, LAYOUT.fieldPubs()); + + fModel.addLink(toHandles(event, subs), toHandles(event, pubs), Ros2MessageCausalLinkType.PARTIAL_SYNC); + } + } + + private static Collection<@NonNull Ros2ObjectHandle> toHandles(@NonNull ITmfEvent event, long[] handles) { + return LongStream.of(handles).boxed().map(h -> handleFrom(event, Objects.requireNonNull(h))).collect(Collectors.toUnmodifiableList()); + } +}
diff --git a/tracetypes/org.eclipse.tracecompass.incubator.ros2.core/src/org/eclipse/tracecompass/incubator/internal/ros2/core/model/messagelinks/Ros2MessageCausalLink.java b/tracetypes/org.eclipse.tracecompass.incubator.ros2.core/src/org/eclipse/tracecompass/incubator/internal/ros2/core/model/messagelinks/Ros2MessageCausalLink.java new file mode 100644 index 0000000..eee29e1 --- /dev/null +++ b/tracetypes/org.eclipse.tracecompass.incubator.ros2.core/src/org/eclipse/tracecompass/incubator/internal/ros2/core/model/messagelinks/Ros2MessageCausalLink.java
@@ -0,0 +1,95 @@ +/********************************************************************** + * Copyright (c) 2022 École Polytechnique de Montréal + * + * All rights reserved. This program and the accompanying materials are + * made available under the terms of the Eclipse Public License 2.0 which + * accompanies this distribution, and is available at + * https://www.eclipse.org/legal/epl-2.0/ + * + * SPDX-License-Identifier: EPL-2.0 + **********************************************************************/ + +package org.eclipse.tracecompass.incubator.internal.ros2.core.model.messagelinks; + +import java.util.Collection; +import java.util.HashSet; +import java.util.Set; + +import org.eclipse.jdt.annotation.NonNull; +import org.eclipse.tracecompass.incubator.internal.ros2.core.model.objects.Ros2ObjectHandle; + +import com.google.common.base.Objects; + +/** + * Complex causal link between subscriptions and publishers. + * + * @author Christophe Bedard + */ +public class Ros2MessageCausalLink { + + private final Set<@NonNull Ros2ObjectHandle> fSubs; + private final Set<@NonNull Ros2ObjectHandle> fPubs; + private final @NonNull Ros2MessageCausalLinkType fType; + + /** + * Constructor + * + * @param subs + * the subscriptions + * @param pubs + * the publishers + * @param type + * the causal link type + */ + public Ros2MessageCausalLink(Collection<@NonNull Ros2ObjectHandle> subs, Collection<@NonNull Ros2ObjectHandle> pubs, @NonNull Ros2MessageCausalLinkType type) { + fSubs = new HashSet<>(subs); + fPubs = new HashSet<>(pubs); + fType = type; + } + + /** + * @return the subscriptions + */ + public Set<@NonNull Ros2ObjectHandle> getSubs() { + return fSubs; + } + + /** + * @return the publishers + */ + public Set<@NonNull Ros2ObjectHandle> getPubs() { + return fPubs; + } + + /** + * @return the message link type + */ + public @NonNull Ros2MessageCausalLinkType getType() { + return fType; + } + + @Override + public int hashCode() { + return Objects.hashCode(fSubs, fPubs, fType); + } + + @Override + public boolean equals(Object obj) { + if (this == obj) { + return true; + } + if (obj == null) { + return false; + } + if (getClass() != obj.getClass()) { + return false; + } + Ros2MessageCausalLink o = (Ros2MessageCausalLink) obj; + return fSubs.equals(o.fSubs) && fPubs.equals(o.fPubs) && fType.equals(o.fType); + } + + @Override + public String toString() { + return String.format("Ros2MessageCausalLink: subs=%s, pubs=%s, type=%s", fSubs.toString(), fPubs.toString(), fType.toString()); //$NON-NLS-1$ + } +}
diff --git a/tracetypes/org.eclipse.tracecompass.incubator.ros2.core/src/org/eclipse/tracecompass/incubator/internal/ros2/core/model/messagelinks/Ros2MessageCausalLinkType.java b/tracetypes/org.eclipse.tracecompass.incubator.ros2.core/src/org/eclipse/tracecompass/incubator/internal/ros2/core/model/messagelinks/Ros2MessageCausalLinkType.java new file mode 100644 index 0000000..a66a93c --- /dev/null +++ b/tracetypes/org.eclipse.tracecompass.incubator.ros2.core/src/org/eclipse/tracecompass/incubator/internal/ros2/core/model/messagelinks/Ros2MessageCausalLinkType.java
@@ -0,0 +1,24 @@ +/********************************************************************** + * Copyright (c) 2022 École Polytechnique de Montréal + * + * All rights reserved. This program and the accompanying materials are + * made available under the terms of the Eclipse Public License 2.0 which + * accompanies this distribution, and is available at + * https://www.eclipse.org/legal/epl-2.0/ + * + * SPDX-License-Identifier: EPL-2.0 + **********************************************************************/ + +package org.eclipse.tracecompass.incubator.internal.ros2.core.model.messagelinks; + +/** + * Types of message causal links. + * + * @author Christophe Bedard + */ +public enum Ros2MessageCausalLinkType { + /** Periodic asynchronous many-to-many */ + PERIODIC_ASYNC, + /** Partially synchronous many-to-many */ + PARTIAL_SYNC +}
diff --git a/tracetypes/org.eclipse.tracecompass.incubator.ros2.core/src/org/eclipse/tracecompass/incubator/internal/ros2/core/model/messagelinks/Ros2MessageCausalLinksModel.java b/tracetypes/org.eclipse.tracecompass.incubator.ros2.core/src/org/eclipse/tracecompass/incubator/internal/ros2/core/model/messagelinks/Ros2MessageCausalLinksModel.java new file mode 100644 index 0000000..09b153e --- /dev/null +++ b/tracetypes/org.eclipse.tracecompass.incubator.ros2.core/src/org/eclipse/tracecompass/incubator/internal/ros2/core/model/messagelinks/Ros2MessageCausalLinksModel.java
@@ -0,0 +1,74 @@ +/********************************************************************** + * Copyright (c) 2022 École Polytechnique de Montréal + * + * All rights reserved. This program and the accompanying materials are + * made available under the terms of the Eclipse Public License 2.0 which + * accompanies this distribution, and is available at + * https://www.eclipse.org/legal/epl-2.0/ + * + * SPDX-License-Identifier: EPL-2.0 + **********************************************************************/ + +package org.eclipse.tracecompass.incubator.internal.ros2.core.model.messagelinks; + +import java.util.ArrayList; +import java.util.Collection; +import java.util.stream.Collectors; + +import org.eclipse.jdt.annotation.NonNull; +import org.eclipse.tracecompass.incubator.internal.ros2.core.analysis.IRos2Model; +import org.eclipse.tracecompass.incubator.internal.ros2.core.model.objects.Ros2ObjectHandle; + +/** + * Container for message causal links. + * + * @author Christophe Bedard + */ +public class Ros2MessageCausalLinksModel implements IRos2Model { + + private @NonNull Collection<@NonNull Ros2MessageCausalLink> fLinks; + + /** + * Constructor + */ + public Ros2MessageCausalLinksModel() { + fLinks = new ArrayList<>(); + } + + /** + * Add a new message link. + * + * @param subs + * the subscriptions + * @param pubs + * the publishers + * @param type + * the causal link type + */ + public void addLink(Collection<@NonNull Ros2ObjectHandle> subs, Collection<@NonNull Ros2ObjectHandle> pubs, @NonNull Ros2MessageCausalLinkType type) { + fLinks.add(new Ros2MessageCausalLink(subs, pubs, type)); + } + + /** + * Get causal link(s) for a given publisher handle. + * + * @param publisherHandle + * the publisher handle + * @return the message links + */ + public Collection<@NonNull Ros2MessageCausalLink> getLinksForPub(@NonNull Ros2ObjectHandle publisherHandle) { + return fLinks.stream().filter(l -> l.getPubs().contains(publisherHandle)).collect(Collectors.toUnmodifiableList()); + + } + + /** + * Get causal link(s) for a given subscription handle. + * + * @param subscriptionHandle + * the subscription handle + * @return the message links + */ + public Collection<@NonNull Ros2MessageCausalLink> getLinksForSub(@NonNull Ros2ObjectHandle subscriptionHandle) { + return fLinks.stream().filter(l -> l.getSubs().contains(subscriptionHandle)).collect(Collectors.toUnmodifiableList()); + } +}
diff --git a/tracetypes/org.eclipse.tracecompass.incubator.ros2.core/src/org/eclipse/tracecompass/incubator/internal/ros2/core/trace/layout/IRos2EventLayout.java b/tracetypes/org.eclipse.tracecompass.incubator.ros2.core/src/org/eclipse/tracecompass/incubator/internal/ros2/core/trace/layout/IRos2EventLayout.java index 7a4bc8a..1487cef 100644 --- a/tracetypes/org.eclipse.tracecompass.incubator.ros2.core/src/org/eclipse/tracecompass/incubator/internal/ros2/core/trace/layout/IRos2EventLayout.java +++ b/tracetypes/org.eclipse.tracecompass.incubator.ros2.core/src/org/eclipse/tracecompass/incubator/internal/ros2/core/trace/layout/IRos2EventLayout.java
@@ -209,6 +209,18 @@ */ String eventRclcppExecutorExecute(); + // Message causal links + + /** + * <code>message_link_periodic_async</code> + */ + String eventMessageLinkPeriodicAsync(); + + /** + * <code>message_link_partial_sync</code> + */ + String eventMessageLinkPartialSync(); + // DDS /** @@ -273,6 +285,10 @@ String fieldTimeout(); String fieldHandle(); + // Message causal links + String fieldSubs(); + String fieldPubs(); + // DDS String fieldGidPrefix(); String fieldGidEntity();
diff --git a/tracetypes/org.eclipse.tracecompass.incubator.ros2.core/src/org/eclipse/tracecompass/incubator/internal/ros2/core/trace/layout/Ros2RollingEventLayout.java b/tracetypes/org.eclipse.tracecompass.incubator.ros2.core/src/org/eclipse/tracecompass/incubator/internal/ros2/core/trace/layout/Ros2RollingEventLayout.java index 3b70f2e..5ad329f 100644 --- a/tracetypes/org.eclipse.tracecompass.incubator.ros2.core/src/org/eclipse/tracecompass/incubator/internal/ros2/core/trace/layout/Ros2RollingEventLayout.java +++ b/tracetypes/org.eclipse.tracecompass.incubator.ros2.core/src/org/eclipse/tracecompass/incubator/internal/ros2/core/trace/layout/Ros2RollingEventLayout.java
@@ -52,6 +52,9 @@ private static final String RCLCPP_EXECUTOR_WAIT_FOR_WORK = "ros2:rclcpp_executor_wait_for_work"; private static final String RCLCPP_EXECUTOR_EXECUTE = "ros2:rclcpp_executor_execute"; + private static final String MESSAGE_LINK_PERIODIC_ASYNC = "ros2:message_link_periodic_async"; + private static final String MESSAGE_LINK_PARTIAL_SYNC = "ros2:message_link_partial_sync"; + private static final String DDS_CREATE_WRITER = "dds:create_writer"; private static final String DDS_WRITE_PRE = "dds:write_pre"; private static final String DDS_WRITE = "dds:write"; @@ -91,6 +94,10 @@ private static final String GOAL_LABEL = "goal_label"; private static final String TIMEOUT = "timeout"; private static final String HANDLE = "handle"; + + private static final String SUBS = "subs"; + private static final String PUBS = "pubs"; + private static final String GID_PREFIX = "gid_prefix"; private static final String GID_ENTITY = "gid_entity"; private static final String WRITER = "writer"; @@ -322,6 +329,22 @@ return RCLCPP_EXECUTOR_EXECUTE; } + // Message causal links + + // message_link_periodic_async + + @Override + public String eventMessageLinkPeriodicAsync() { + return MESSAGE_LINK_PERIODIC_ASYNC; + } + + // message_link_partial_sync + + @Override + public String eventMessageLinkPartialSync() { + return MESSAGE_LINK_PARTIAL_SYNC; + } + // DDS // dds:create_writer @@ -523,6 +546,18 @@ return HANDLE; } + // Message causal links + + @Override + public String fieldSubs() { + return SUBS; + } + + @Override + public String fieldPubs() { + return PUBS; + } + // DDS @Override