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Ros2PublicationMessageFlowSegment.java
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Ros2PublicationMessageFlowSegment.java
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/**********************************************************************
* 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.messageflow;
import java.util.ArrayList;
import java.util.Collection;
import java.util.Iterator;
import java.util.Objects;
import java.util.stream.Collectors;
import org.eclipse.jdt.annotation.NonNull;
import org.eclipse.tracecompass.incubator.internal.ros2.core.analysis.messages.Ros2MessagesUtil;
import org.eclipse.tracecompass.incubator.internal.ros2.core.analysis.objects.Ros2ObjectsUtil;
import org.eclipse.tracecompass.incubator.internal.ros2.core.model.messagelinks.Ros2MessageCausalLink;
import org.eclipse.tracecompass.incubator.internal.ros2.core.model.messages.Ros2CallbackInstance;
import org.eclipse.tracecompass.incubator.internal.ros2.core.model.messages.Ros2CallbackPublicationInstance;
import org.eclipse.tracecompass.incubator.internal.ros2.core.model.messages.Ros2MessageTransportInstance;
import org.eclipse.tracecompass.incubator.internal.ros2.core.model.messages.Ros2PubInstance;
import org.eclipse.tracecompass.incubator.internal.ros2.core.model.messages.Ros2SubCallbackInstance;
import org.eclipse.tracecompass.incubator.internal.ros2.core.model.objects.Ros2CallbackType;
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.Ros2SubscriptionObject;
import org.eclipse.tracecompass.incubator.internal.ros2.core.model.objects.Ros2TimerObject;
import org.eclipse.tracecompass.statesystem.core.interval.ITmfStateInterval;
/**
* Publication message flow segment, between initial publish call and DDS writer
* call.
*
* @author Christophe Bedard
*/
public class Ros2PublicationMessageFlowSegment extends Ros2MessageFlowSegment {
private final @NonNull Ros2PubInstance fPubInstance;
private final @NonNull Ros2PublisherObject fPublisher;
/**
* Constructor
*
* @param startTime
* the start time
* @param endTime
* the end time
* @param pubInstance
* the corresponding publication instance
* @param publisher
* the publisher
*/
public Ros2PublicationMessageFlowSegment(long startTime, long endTime, @NonNull Ros2PubInstance pubInstance, @NonNull Ros2PublisherObject publisher) {
super(startTime, endTime, publisher.getNodeHandle());
fPubInstance = pubInstance;
fPublisher = publisher;
}
/**
* @return the corresponding publication instance
*/
public @NonNull Ros2PubInstance getPubInstance() {
return fPubInstance;
}
/**
* @return the publisher
*/
public @NonNull Ros2PublisherObject getPublisher() {
return fPublisher;
}
@Override
public @NonNull Collection<@NonNull Ros2MessageFlowSegment> getDirectSuccessors(@NonNull Ros2MessageFlowBuildInfo info) {
/**
* After a publication segment, the next segments are transport
* segments.
*/
Collection<@NonNull Ros2MessageFlowSegment> next = new ArrayList<>();
Iterator<@NonNull Ros2MessageTransportInstance> transportLinks = Ros2MessagesUtil.getOutgoingTransportLinks(info.getMessagesSs(), getEndTime() + 1, getPublisher().getHandle()).iterator();
while (transportLinks.hasNext()) {
Ros2MessageTransportInstance transportInstance = transportLinks.next();
Long sourceTimestamp = transportInstance.getSourceTimestamp();
Long destinationTimestamp = transportInstance.getDestinationTimestamp();
Ros2SubscriptionObject subObject = Ros2ObjectsUtil.getSubscriptionObjectFromHandle(info.getObjectsSs(), destinationTimestamp, transportInstance.getSubscriptionHandle());
if (null != subObject) {
next.add(new Ros2TransportMessageFlowSegment(sourceTimestamp, destinationTimestamp, transportInstance, getPublisher(), subObject));
}
}
return next;
}
@Override
public @NonNull Collection<@NonNull Ros2MessageFlowSegment> getDirectPredecessors(@NonNull Ros2MessageFlowBuildInfo info) {
/**
* Before a publication segment, the previous segments are:
*
* <pre>
* * a single callback-publication segment;
* * wait segments.
* </pre>
*/
Collection<@NonNull Ros2MessageFlowSegment> previous = new ArrayList<>();
previous.addAll(getCallbackPublicationSegmentsBeforePublication(info));
previous.addAll(getWaitSegmentsBeforePublication(info));
return previous;
}
private Collection<@NonNull Ros2MessageFlowSegment> getCallbackPublicationSegmentsBeforePublication(@NonNull Ros2MessageFlowBuildInfo info) {
Collection<@NonNull Ros2MessageFlowSegment> previous = new ArrayList<>();
/**
* Callback-publication.
*
* Should only get a single link or no link here, but it's simpler to
* just use a for loop.
*/
long publicationTimestamp = getStartTime();
Iterator<@NonNull Ros2CallbackPublicationInstance> callbackPublicationLinks = Ros2MessagesUtil.getIncomingCallbackPublicationLinks(info.getMessagesSs(), getPublisher().getHandle(), publicationTimestamp).iterator();
while (callbackPublicationLinks.hasNext()) {
Ros2CallbackPublicationInstance callbackPublicationInstance = callbackPublicationLinks.next();
Ros2ObjectHandle callbackOwnerHandle = callbackPublicationInstance.getCallbackOwnerHandle();
long time = callbackPublicationInstance.getPublicationTimestamp();
Ros2CallbackType callbackType = callbackPublicationInstance.getCallbackType();
if (callbackType.equals(Ros2CallbackType.SUBSCRIPTION)) {
Ros2SubscriptionObject subObject = Ros2ObjectsUtil.getSubscriptionObjectFromHandle(info.getObjectsSs(), time, callbackOwnerHandle);
if (null != subObject) {
previous.add(new Ros2CallbackPubMessageFlowSegment(time, time, callbackPublicationInstance, subObject, getPublisher()));
}
} else if (callbackType.equals(Ros2CallbackType.TIMER)) {
Ros2TimerObject timerObject = Ros2ObjectsUtil.getTimerObjectFromHandle(info.getObjectsSs(), time, callbackOwnerHandle);
if (null != timerObject) {
previous.add(new Ros2CallbackPubMessageFlowSegment(time, time, callbackPublicationInstance, timerObject, getPublisher()));
}
} else {
throw new IllegalStateException();
}
}
return previous;
}
private Collection<@NonNull Ros2MessageFlowSegment> getWaitSegmentsBeforePublication(@NonNull Ros2MessageFlowBuildInfo info) {
Collection<@NonNull Ros2MessageFlowSegment> previous = new ArrayList<>();
/**
* Wait link.
*
* Just find the last subscription callback for each subscription in the
* link.
*/
for (Ros2MessageCausalLink link : info.getMessageLinksModel().getLinksForPub(getPublisher().getHandle())) {
for (Ros2ObjectHandle subHandle : link.getSubs()) {
switch (link.getType()) {
case PERIODIC_ASYNC:
getWaitPeriodicAsyncSegmentsBeforePublication(info, previous, subHandle);
break;
case PARTIAL_SYNC:
getWaitPartialSyncSegmentsBeforePublication(info, previous, subHandle);
break;
default:
throw new IllegalStateException();
}
}
}
return previous;
}
private void getWaitPeriodicAsyncSegmentsBeforePublication(@NonNull Ros2MessageFlowBuildInfo info, Collection<@NonNull Ros2MessageFlowSegment> previous, @NonNull Ros2ObjectHandle subHandle) {
ITmfStateInterval previousSubCallbackInstanceInterval = Ros2MessagesUtil.getPreviousSubCallbackInstanceInterval(info.getMessagesSs(), info.getObjectsSs(), getStartTime(), subHandle);
if (null == previousSubCallbackInstanceInterval) {
return;
}
Ros2SubCallbackInstance previousSubCallbackInstance = (Ros2SubCallbackInstance) previousSubCallbackInstanceInterval.getValue();
if (null == previousSubCallbackInstance) {
return;
}
Ros2SubscriptionObject subObject = Ros2ObjectsUtil.getSubscriptionObjectFromHandle(info.getObjectsSs(), previousSubCallbackInstanceInterval.getEndTime(), subHandle);
if (null == subObject) {
return;
}
previous.add(new Ros2WaitMessageFlowSegment(previousSubCallbackInstanceInterval.getEndTime(), getStartTime(), previousSubCallbackInstance, getPubInstance(), subObject, getPublisher()));
}
private void getWaitPartialSyncSegmentsBeforePublication(@NonNull Ros2MessageFlowBuildInfo info, Collection<@NonNull Ros2MessageFlowSegment> previous, @NonNull Ros2ObjectHandle subHandle) {
ITmfStateInterval previousSubCallbackInstanceInterval = Ros2MessagesUtil.getPreviousSubCallbackInstanceInterval(info.getMessagesSs(), info.getObjectsSs(), getStartTime(), subHandle);
if (null == previousSubCallbackInstanceInterval) {
return;
}
Ros2SubCallbackInstance previousSubCallbackInstance = (Ros2SubCallbackInstance) previousSubCallbackInstanceInterval.getValue();
if (null == previousSubCallbackInstance) {
return;
}
Ros2SubscriptionObject subObject = Ros2ObjectsUtil.getSubscriptionObjectFromHandle(info.getObjectsSs(), previousSubCallbackInstanceInterval.getEndTime(), subHandle);
if (null == subObject) {
return;
}
/**
* If we already added a callback-publication link segment that links
* the publication segment to the same callback instance, there is no
* need to add a wait
*/
boolean isCallbackPubLink = !previous.stream().filter(s -> {
if (!(s instanceof Ros2CallbackPubMessageFlowSegment)) {
return false;
}
Ros2CallbackPubMessageFlowSegment segment = (Ros2CallbackPubMessageFlowSegment) s;
if (!(segment.getSource() instanceof Ros2SubscriptionObject)) {
return false;
}
Ros2SubscriptionObject linkSubObject = (Ros2SubscriptionObject) segment.getSource();
if (!linkSubObject.equals(subObject)) {
return false;
}
long linkTime = segment.getCallbackPubInstance().getPublicationTimestamp();
Ros2CallbackInstance callbackInstance = previousSubCallbackInstance.getCallbackInstance();
return linkTime >= callbackInstance.getStartTime() && linkTime <= callbackInstance.getEndTime();
}).collect(Collectors.toUnmodifiableList()).isEmpty();
if (isCallbackPubLink) {
return;
}
previous.add(new Ros2WaitMessageFlowSegment(previousSubCallbackInstanceInterval.getEndTime(), getStartTime(), previousSubCallbackInstance, getPubInstance(), subObject, getPublisher()));
}
@Override
public int hashCode() {
return Objects.hash(fPubInstance, fPublisher, super.hashCode());
}
@Override
public boolean equals(Object obj) {
if (this == obj) {
return true;
}
if (null == obj) {
return false;
}
if (!super.equals(obj)) {
return false;
}
if (!(obj instanceof Ros2PublicationMessageFlowSegment)) {
return false;
}
Ros2PublicationMessageFlowSegment o = (Ros2PublicationMessageFlowSegment) obj;
if (!fPubInstance.equals(o.fPubInstance)) {
return false;
}
if (!fPublisher.equals(o.fPublisher)) {
return false;
}
return true;
}
@Override
public String toString() {
return String.format(
"Ros2PublicationMessageFlowSegment: %s, pubInstance=[%s], pub=[%s]", //$NON-NLS-1$
super.toString(), fPubInstance.toString(), fPublisher.toString());
}
}