Allow tracing tests to be run in parallel with other tests

test_ros2trace/package.xml

@@ -25,6 +25,7 @@
   <test_depend>test_tracetools</test_depend>
   <test_depend>tracetools</test_depend>
   <test_depend>tracetools_read</test_depend>
+  <test_depend>tracetools_test</test_depend>
   <test_depend>tracetools_trace</test_depend>
 
   <!-- TODO(clalancette): This is actually a false dependency,

test_tracetools/CMakeLists.txt

@@ -36,13 +36,36 @@ if(BUILD_TESTING)
   find_package(lifecycle_msgs REQUIRED)
   find_package(rclcpp REQUIRED)
   find_package(rclcpp_lifecycle REQUIRED)
+  find_package(rcpputils REQUIRED)
   find_package(std_msgs REQUIRED)
   find_package(std_srvs REQUIRED)
 
+  # The utility lib is needed even if TRACETOOLS_DISABLED; it's just empty
+  add_library(${PROJECT_NAME}_mark_process src/mark_process.cpp)
+  if(NOT TRACETOOLS_DISABLED)
+    find_package(PkgConfig REQUIRED)
+    pkg_check_modules(LTTNG REQUIRED lttng-ust)
+    target_link_libraries(${PROJECT_NAME}_mark_process PRIVATE
+      ${LTTNG_LIBRARIES}
+      rcpputils::rcpputils
+    )
+  endif()
+  target_include_directories(${PROJECT_NAME}_mark_process PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  )
+  if(TRACETOOLS_DISABLED)
+    target_compile_definitions(${PROJECT_NAME}_mark_process PRIVATE TRACETOOLS_DISABLED)
+  endif()
+  install(
+    DIRECTORY include/
+    DESTINATION include/${PROJECT_NAME}
+  )
+
   add_executable(test_publisher
     src/test_publisher.cpp
   )
   target_link_libraries(test_publisher PRIVATE
+    ${PROJECT_NAME}_mark_process
     rclcpp::rclcpp
     ${std_msgs_TARGETS}
   )
@@ -51,6 +74,7 @@ if(BUILD_TESTING)
     src/test_intra.cpp
   )
   target_link_libraries(test_intra PRIVATE
+    ${PROJECT_NAME}_mark_process
     rclcpp::rclcpp
     ${std_msgs_TARGETS}
   )
@@ -59,6 +83,7 @@ if(BUILD_TESTING)
     src/test_lifecycle_node.cpp
   )
   target_link_libraries(test_lifecycle_node PRIVATE
+    ${PROJECT_NAME}_mark_process
     rclcpp::rclcpp
     rclcpp_lifecycle::rclcpp_lifecycle
   )
@@ -67,6 +92,7 @@ if(BUILD_TESTING)
     src/test_lifecycle_client.cpp
   )
   target_link_libraries(test_lifecycle_client PRIVATE
+    ${PROJECT_NAME}_mark_process
     ${lifecycle_msgs_TARGETS}
     rclcpp::rclcpp
   )
@@ -75,6 +101,7 @@ if(BUILD_TESTING)
     src/test_ping.cpp
   )
   target_link_libraries(test_ping PRIVATE
+    ${PROJECT_NAME}_mark_process
     rclcpp::rclcpp
     ${std_msgs_TARGETS}
   )
@@ -83,6 +110,7 @@ if(BUILD_TESTING)
     src/test_pong.cpp
   )
   target_link_libraries(test_pong PRIVATE
+    ${PROJECT_NAME}_mark_process
     rclcpp::rclcpp
     ${std_msgs_TARGETS}
   )
@@ -91,13 +119,15 @@ if(BUILD_TESTING)
     src/test_timer.cpp
   )
   target_link_libraries(test_timer PRIVATE
+    ${PROJECT_NAME}_mark_process
     rclcpp::rclcpp
   )
 
   add_executable(test_service_ping
     src/test_service_ping.cpp
   )
   target_link_libraries(test_service_ping PRIVATE
+    ${PROJECT_NAME}_mark_process
     rclcpp::rclcpp
     ${std_srvs_TARGETS}
   )
@@ -106,6 +136,7 @@ if(BUILD_TESTING)
     src/test_service_pong.cpp
   )
   target_link_libraries(test_service_pong PRIVATE
+    ${PROJECT_NAME}_mark_process
     rclcpp::rclcpp
     ${std_srvs_TARGETS}
   )

test_tracetools/include/test_tracetools/mark_process.hpp

@@ -0,0 +1,41 @@
+// Copyright 2024 Apex.AI, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef TEST_TRACETOOLS__MARK_PROCESS_HPP_
+#define TEST_TRACETOOLS__MARK_PROCESS_HPP_
+
+#include <string>
+
+namespace test_tracetools
+{
+
+/// Mark process to link it to a trace test.
+/**
+ * This should be called once by each test application (process) to mark the process so that it can
+ * be linked to the trace test that spawned it.
+ *
+ * The process responsible for spawning the current process is responsible for setting the
+ * `TRACETOOLS_TEST_TRACE_TEST_ID` environment variable to a unique value.
+ *
+ * If the `TRACETOOLS_TEST_TRACE_TEST_ID` environment variable is set and not empty, this marks the
+ * current process by triggering an `lttng_ust_tracef:event` trace event with a `msg` field value
+ * equal to: `"TRACETOOLS_TEST_TRACE_TEST_ID=<value of TRACETOOLS_TEST_TRACE_TEST_ID>"`.
+ *
+ * \see tracetools_test
+ */
+void mark_trace_test_process();
+
+}  // namespace test_tracetools
+
+#endif  // TEST_TRACETOOLS__MARK_PROCESS_HPP_

test_tracetools/package.xml

@@ -20,9 +20,11 @@
        the dependencies that those packages use so that colcon properly sets up the
        environment when running those tests.
   -->
+  <build_export_depend>liblttng-ust-dev</build_export_depend>
   <build_export_depend>lifecycle_msgs</build_export_depend>
   <build_export_depend>rclcpp</build_export_depend>
   <build_export_depend>rclcpp_lifecycle</build_export_depend>
+  <build_export_depend>rcpputils</build_export_depend>
   <build_export_depend>std_msgs</build_export_depend>
   <build_export_depend>std_srvs</build_export_depend>
 
@@ -31,11 +33,13 @@
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>liblttng-ust-dev</test_depend>
   <test_depend>lifecycle_msgs</test_depend>
   <test_depend>python3-pytest</test_depend>
   <test_depend>python3-pytest-cov</test_depend>
   <test_depend>rclcpp</test_depend>
   <test_depend>rclcpp_lifecycle</test_depend>
+  <test_depend>rcpputils</test_depend>
   <test_depend>std_msgs</test_depend>
   <test_depend>std_srvs</test_depend>
   <test_depend>tracetools</test_depend>

test_tracetools/src/mark_process.cpp

@@ -0,0 +1,48 @@
+// Copyright 2024 Apex.AI, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef TRACETOOLS_DISABLED
+#include <lttng/tracef.h>
+
+#include "rcpputils/env.hpp"
+#endif  // TRACETOOLS_DISABLED
+
+#include "test_tracetools/mark_process.hpp"
+
+namespace test_tracetools
+{
+
+namespace
+{
+
+/**
+ * \see tracetools_test
+ */
+constexpr std::string_view trace_test_id_env_var = "TRACETOOLS_TEST_TRACE_TEST_ID";
+
+}  // namespace
+
+void mark_trace_test_process()
+{
+#ifndef TRACETOOLS_DISABLED
+  // See tracetools_test.mark_process for more details
+  const std::string env_var{trace_test_id_env_var};
+  const auto test_id = rcpputils::get_env_var(env_var.c_str());
+  if (!test_id.empty()) {
+    lttng_ust__tracef("%s=%s", env_var.c_str(), test_id.c_str());
+  }
+#endif  // TRACETOOLS_DISABLED
+}
+
+}  // namespace test_tracetools

test_tracetools/src/test_intra.cpp

@@ -16,6 +16,7 @@
 
 #include "rclcpp/rclcpp.hpp"
 #include "std_msgs/msg/string.hpp"
+#include "test_tracetools/mark_process.hpp"
 
 using namespace std::chrono_literals;
 
@@ -73,6 +74,8 @@ class SubIntraNode : public rclcpp::Node
 
 int main(int argc, char * argv[])
 {
+  test_tracetools::mark_trace_test_process();
+
   rclcpp::init(argc, argv);
 
   rclcpp::executors::SingleThreadedExecutor exec;

test_tracetools/src/test_lifecycle_client.cpp

@@ -25,6 +25,7 @@
 #include "lifecycle_msgs/srv/get_state.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "rcutils/logging_macros.h"
+#include "test_tracetools/mark_process.hpp"
 
 using namespace std::chrono_literals;
 
@@ -256,6 +257,8 @@ void cycle_through_states(std::shared_ptr<LifecycleNodeClient> client_node)
 
 int main(int argc, char ** argv)
 {
+  test_tracetools::mark_trace_test_process();
+
   rclcpp::init(argc, argv);
 
   rclcpp::executors::SingleThreadedExecutor exec;

test_tracetools/src/test_lifecycle_node.cpp

@@ -16,6 +16,7 @@
 
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
+#include "test_tracetools/mark_process.hpp"
 
 class LifecycleNode : public rclcpp_lifecycle::LifecycleNode
 {
@@ -66,6 +67,8 @@ class LifecycleNode : public rclcpp_lifecycle::LifecycleNode
 
 int main(int argc, char ** argv)
 {
+  test_tracetools::mark_trace_test_process();
+
   rclcpp::init(argc, argv);
 
   rclcpp::executors::SingleThreadedExecutor exec;

test_tracetools/src/test_ping.cpp

@@ -17,6 +17,7 @@
 
 #include "rclcpp/rclcpp.hpp"
 #include "std_msgs/msg/string.hpp"
+#include "test_tracetools/mark_process.hpp"
 
 using namespace std::chrono_literals;
 
@@ -70,6 +71,8 @@ class PingNode : public rclcpp::Node
 
 int main(int argc, char * argv[])
 {
+  test_tracetools::mark_trace_test_process();
+
   bool do_only_one = true;
   for (int i = 0; i < argc; ++i) {
     if (strncmp(argv[i], "do_more", 7) == 0) {

test_tracetools/src/test_pong.cpp

@@ -16,6 +16,7 @@
 
 #include "rclcpp/rclcpp.hpp"
 #include "std_msgs/msg/string.hpp"
+#include "test_tracetools/mark_process.hpp"
 
 #define NODE_NAME "test_pong"
 #define SUB_TOPIC_NAME "ping"
@@ -58,6 +59,8 @@ class PongNode : public rclcpp::Node
 
 int main(int argc, char * argv[])
 {
+  test_tracetools::mark_trace_test_process();
+
   bool do_only_one = true;
   for (int i = 0; i < argc; ++i) {
     if (strncmp(argv[i], "do_more", 7) == 0) {

test_tracetools/src/test_publisher.cpp

@@ -17,6 +17,7 @@
 
 #include "rclcpp/rclcpp.hpp"
 #include "std_msgs/msg/string.hpp"
+#include "test_tracetools/mark_process.hpp"
 
 #define NODE_NAME "test_publisher"
 #define TOPIC_NAME "the_topic"
@@ -43,6 +44,8 @@ class PubNode : public rclcpp::Node
 
 int main(int argc, char * argv[])
 {
+  test_tracetools::mark_trace_test_process();
+
   rclcpp::init(argc, argv);
 
   rclcpp::executors::SingleThreadedExecutor exec;

test_tracetools/src/test_service.cpp

@@ -16,6 +16,7 @@
 
 #include "rclcpp/rclcpp.hpp"
 #include "std_srvs/srv/empty.hpp"
+#include "test_tracetools/mark_process.hpp"
 
 #define NODE_NAME "test_service"
 #define SERVICE_NAME "the_service"
@@ -53,6 +54,8 @@ class ServiceNode : public rclcpp::Node
 
 int main(int argc, char * argv[])
 {
+  test_tracetools::mark_trace_test_process();
+
   rclcpp::init(argc, argv);
 
   rclcpp::executors::SingleThreadedExecutor exec;

test_tracetools/src/test_service_ping.cpp

@@ -17,6 +17,7 @@
 
 #include "rclcpp/rclcpp.hpp"
 #include "std_srvs/srv/empty.hpp"
+#include "test_tracetools/mark_process.hpp"
 
 using namespace std::chrono_literals;
 
@@ -71,6 +72,8 @@ class PingNode : public rclcpp::Node
 
 int main(int argc, char * argv[])
 {
+  test_tracetools::mark_trace_test_process();
+
   rclcpp::init(argc, argv);
 
   rclcpp::executors::SingleThreadedExecutor exec;

test_tracetools/src/test_service_pong.cpp

@@ -16,6 +16,7 @@
 
 #include "rclcpp/rclcpp.hpp"
 #include "std_srvs/srv/empty.hpp"
+#include "test_tracetools/mark_process.hpp"
 
 #define NODE_NAME "test_service_pong"
 #define SERVICE_NAME "ping"
@@ -59,6 +60,8 @@ class PongNode : public rclcpp::Node
 
 int main(int argc, char * argv[])
 {
+  test_tracetools::mark_trace_test_process();
+
   rclcpp::init(argc, argv);
 
   rclcpp::executors::SingleThreadedExecutor exec;

test_tracetools/src/test_timer.cpp

@@ -16,6 +16,7 @@
 #include <chrono>
 
 #include "rclcpp/rclcpp.hpp"
+#include "test_tracetools/mark_process.hpp"
 
 using namespace std::chrono_literals;
 
@@ -50,6 +51,8 @@ class TimerNode : public rclcpp::Node
 
 int main(int argc, char * argv[])
 {
+  test_tracetools::mark_trace_test_process();
+
   rclcpp::init(argc, argv);
 
   rclcpp::executors::SingleThreadedExecutor exec;