Graph API for interacting with ros2_tracing events

ros2_profiling_demo/scripts/profile_graph_summary.py

@@ -0,0 +1,38 @@
+#!/usr/bin/env python3
+
+import argparse
+import sys
+
+from ros2profile.api.process import load_mcap_data, load_event_graph
+
+
+def summarize(graph):
+    for node in graph.nodes():
+        print(f'Node: {node.name()}')
+        if node.publishers():
+            print(f'  Publishers: ')
+            for publisher in node.publishers():
+                print(f'    Topic: {publisher.topic_name()}')
+                print(f'      Events: {len(publisher.events())}')
+        if node.subscriptions():
+            print(f'  Subscriptions: ')
+            for subscription in node.subscriptions():
+                print(f'    Topic: {subscription.topic_name()}')
+                print(f'      Callback: {subscription.callback().symbol()}')
+        if node.timers():
+            print(f'  Timers: ')
+            for timer in node.timers():
+                print(f'    Period: {timer.period()}')
+                print(f'      Callback: {timer.callback().symbol()}')
+                print(f'      Events: {len(timer.callback().events())}')
+
+
+def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument("profile", type=str, help="Profile directory")
+    args = parser.parse_args()
+    graph = load_event_graph(args.profile)
+    summarize(graph)
+
+if __name__ == '__main__':
+    main()

ros2profile/ros2profile/api/process.py

@@ -20,9 +20,8 @@
 
 import pandas as pd
 
-from tracetools_analysis.loading import load_file
-from tracetools_analysis.processor.ros2 import Ros2Handler
-from tracetools_analysis.utils.ros2 import Ros2DataModelUtil
+from ros2profile.data.convert.ctf import load_ctf
+from ros2profile.data import build_graph
 
 def process_memory_state(msg):
     return {
@@ -116,8 +115,15 @@ def process(input_path):
             p = pickle.Pickler(f, protocol=4)
             p.dump(data)
 
+    events = load_ctf(input_path)
+    graph = build_graph(events)
 
-def load_files(input_path):
+    with open(os.path.join(input_path, 'event_graph'), 'wb') as f:
+        p = pickle.Pickler(f, protocol=4)
+        p.dump(graph)
+
+
+def load_mcap_data(input_path):
     # Find candidate files
     mcap_files = glob.glob(input_path + '*.mcap')
     data = {}
@@ -128,12 +134,14 @@ def load_files(input_path):
             with open(base + '.converted', 'rb') as f:
                 p = pickle.Unpickler(f)
                 mcap_data = p.load()
-
             data[os.path.basename(base)] = mcap_data
     return data
 
-def load_trace(input_path):
-    events = load_file(os.path.join(input_path, 'ros2profile-tracing-session'))
-    handler = Ros2Handler.process(events)
-    data_util = Ros2DataModelUtil(handler.data)
-    return data_util
+def load_event_graph(input_path):
+    if not os.path.exists(os.path.join(input_path, 'event_graph')):
+        process(input_path)
+
+    with open(os.path.join(input_path, 'event_graph'), 'rb') as f:
+        p = pickle.Unpickler(f)
+        graph_data = p.load()
+    return graph_data