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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>
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83 changes: 83 additions & 0 deletions
83
...ss/incubator/internal/ros2/core/analysis/messagelinks/Ros2MessageCausalLinksAnalysis.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 | ||
| **********************************************************************/ | ||
|
|
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| package org.eclipse.tracecompass.incubator.internal.ros2.core.analysis.messagelinks; | ||
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| import java.util.Collections; | ||
| import java.util.Objects; | ||
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| 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; | ||
|
|
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| /** | ||
| * ROS 2 message causal links analysis. Collects causal links information from | ||
| * annotations. | ||
| * | ||
| * @author Christophe Bedard | ||
| */ | ||
| public class Ros2MessageCausalLinksAnalysis extends AbstractRos2StateSystemAnalysis implements IRos2ModelProvider<Ros2MessageCausalLinksModel> { | ||
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| private static final @NonNull String ID_SUFFIX = ".messagelinks"; //$NON-NLS-1$ | ||
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| private Ros2MessageCausalLinksModel fModel; | ||
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| /** | ||
| * Constructor | ||
| */ | ||
| public Ros2MessageCausalLinksAnalysis() { | ||
| super(getFullAnalysisId()); | ||
| fModel = new Ros2MessageCausalLinksModel(); | ||
| } | ||
|
|
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| /** | ||
| * @return the full ID of this analysis module | ||
| */ | ||
| public static @NonNull String getFullAnalysisId() { | ||
| return AbstractRos2StateSystemAnalysis.getAnalysisIdFromSuffix(ID_SUFFIX); | ||
| } | ||
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| @Override | ||
| public @Nullable Ros2MessageCausalLinksModel getModel() { | ||
| return fModel; | ||
| } | ||
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| @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); | ||
| } | ||
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| @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); | ||
| } | ||
| } |
97 changes: 97 additions & 0 deletions
97
...cubator/internal/ros2/core/analysis/messagelinks/Ros2MessageCausalLinksStateProvider.java
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| @@ -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 | ||
| **********************************************************************/ | ||
|
|
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| package org.eclipse.tracecompass.incubator.internal.ros2.core.analysis.messagelinks; | ||
|
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| import java.util.Collection; | ||
| import java.util.Objects; | ||
| import java.util.stream.Collectors; | ||
| import java.util.stream.LongStream; | ||
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| 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; | ||
|
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| /** | ||
| * State provider for the ROS 2 message causal links analysis. | ||
| * | ||
| * @author Christophe Bedard | ||
| */ | ||
| public class Ros2MessageCausalLinksStateProvider extends AbstractRos2StateProvider { | ||
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| private static final int VERSION_NUMBER = 0; | ||
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| private final ITmfStateSystem fObjectsSs; | ||
| private final Ros2MessageCausalLinksModel fModel; | ||
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| /** | ||
| * 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; | ||
| } | ||
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| @Override | ||
| public int getVersion() { | ||
| return VERSION_NUMBER; | ||
| } | ||
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| @Override | ||
| public @NonNull ITmfStateProvider getNewInstance() { | ||
| return new Ros2MessageCausalLinksStateProvider(getTrace(), fObjectsSs, fModel); | ||
| } | ||
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| @Override | ||
| protected void eventHandle(@NonNull ITmfEvent event) { | ||
| if (!considerEvent(event)) { | ||
| return; | ||
| } | ||
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| /** | ||
| * No need to actually fill in the state system or use the event | ||
| * timestamps. | ||
| */ | ||
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| // Periodic async | ||
| if (isEvent(event, LAYOUT.eventMessageLinkPeriodicAsync())) { | ||
| long[] subs = (long[]) getField(event, LAYOUT.fieldSubs()); | ||
| long[] pubs = (long[]) getField(event, LAYOUT.fieldPubs()); | ||
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| 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()); | ||
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| fModel.addLink(toHandles(event, subs), toHandles(event, pubs), Ros2MessageCausalLinkType.PARTIAL_SYNC); | ||
| } | ||
| } | ||
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| 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()); | ||
| } | ||
| } |
95 changes: 95 additions & 0 deletions
95
...e/tracecompass/incubator/internal/ros2/core/model/messagelinks/Ros2MessageCausalLink.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -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 | ||
| **********************************************************************/ | ||
|
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| package org.eclipse.tracecompass.incubator.internal.ros2.core.model.messagelinks; | ||
|
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| import java.util.Collection; | ||
| import java.util.HashSet; | ||
| import java.util.Set; | ||
|
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| import org.eclipse.jdt.annotation.NonNull; | ||
| import org.eclipse.tracecompass.incubator.internal.ros2.core.model.objects.Ros2ObjectHandle; | ||
|
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| import com.google.common.base.Objects; | ||
|
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| /** | ||
| * Complex causal link between subscriptions and publishers. | ||
| * | ||
| * @author Christophe Bedard | ||
| */ | ||
| public class Ros2MessageCausalLink { | ||
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| private final Set<@NonNull Ros2ObjectHandle> fSubs; | ||
| private final Set<@NonNull Ros2ObjectHandle> fPubs; | ||
| private final @NonNull Ros2MessageCausalLinkType fType; | ||
|
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| /** | ||
| * 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; | ||
| } | ||
|
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| /** | ||
| * @return the subscriptions | ||
| */ | ||
| public Set<@NonNull Ros2ObjectHandle> getSubs() { | ||
| return fSubs; | ||
| } | ||
|
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| /** | ||
| * @return the publishers | ||
| */ | ||
| public Set<@NonNull Ros2ObjectHandle> getPubs() { | ||
| return fPubs; | ||
| } | ||
|
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| /** | ||
| * @return the message link type | ||
| */ | ||
| public @NonNull Ros2MessageCausalLinkType getType() { | ||
| return fType; | ||
| } | ||
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| @Override | ||
| public int hashCode() { | ||
| return Objects.hashCode(fSubs, fPubs, fType); | ||
| } | ||
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| @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); | ||
| } | ||
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| @Override | ||
| public String toString() { | ||
| return String.format("Ros2MessageCausalLink: subs=%s, pubs=%s, type=%s", fSubs.toString(), fPubs.toString(), fType.toString()); //$NON-NLS-1$ | ||
| } | ||
| } |
24 changes: 24 additions & 0 deletions
24
...acecompass/incubator/internal/ros2/core/model/messagelinks/Ros2MessageCausalLinkType.java
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| @@ -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 | ||
| **********************************************************************/ | ||
|
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| package org.eclipse.tracecompass.incubator.internal.ros2.core.model.messagelinks; | ||
|
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| /** | ||
| * 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 | ||
| } |
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