reflected review results

tier4 · Dec 12, 2024 · 2e0b1ed · 2e0b1ed
1 parent 5867b2b
commit 2e0b1ed
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Showing 9 changed files with 213 additions and 109 deletions.
diff --git a/src/caret_analyze/infra/lttng/lttng.py b/src/caret_analyze/infra/lttng/lttng.py
@@ -226,8 +226,6 @@ def __len__(self) -> int:
 
     @staticmethod
     def _to_event(msg: Any) -> dict[str, Any]:
-        if msg.event.name == 'ros2_caret:dds_write':
-            print(msg.event.name)
         event: dict[str, Any] = {}
         event[LttngEventFilter.NAME] = msg.event.name
         event[LttngEventFilter.TIMESTAMP] = msg.default_clock_snapshot.ns_from_origin
@@ -342,12 +340,12 @@ class Lttng(InfraBase):
         'ros2:rcl_lifecycle_state_machine_init',
         'ros2_caret:caret_init',
         'ros2_caret:rmw_implementation',
-        'ros2_caret:executor_entity_collector_to_executor',
         'ros2_caret:construct_executor',
         'ros2_caret:construct_static_executor',
-        'ros2_caret:callback_group_to_executor_entity_collector',
         'ros2_caret:add_callback_group',
         'ros2_caret:add_callback_group_static_executor',
+        'ros2_caret:executor_entity_collector_to_executor',
+        'ros2_caret:callback_group_to_executor_entity_collector',
         'ros2_caret:callback_group_add_timer',
         'ros2_caret:callback_group_add_subscription',
         'ros2_caret:callback_group_add_service',

diff --git a/src/caret_analyze/infra/lttng/lttng_info.py b/src/caret_analyze/infra/lttng/lttng_info.py
@@ -19,8 +19,6 @@
 from functools import cached_property, lru_cache
 from logging import getLogger, WARN
 
-import os
-
 import pandas as pd
 
 from .ros2_tracing.data_model import Ros2DataModel
@@ -1265,8 +1263,11 @@ def _build_cbg(
     ) -> TracePointData:
         columns = ['callback_group_id', 'callback_group_addr', 'group_type_name', 'executor_addr']
 
-        ros_version = os.environ['ROS_DISTRO']
-        if ros_version[0] >= 'jazzy'[0]:
+        if len(data.caret_init.df) != 0:
+            distribution = data.caret_init.df['distribution']
+        else:
+            distribution = 'NOTFOUND'
+        if distribution[0] >= 'jazzy'[0]:
             callback_groups = data.callback_group_to_executor_entity_collector.clone()
             callback_groups.reset_index()
 

diff --git a/src/caret_analyze/infra/lttng/ros2_tracing/data_model.py b/src/caret_analyze/infra/lttng/ros2_tracing/data_model.py
@@ -124,7 +124,6 @@ def __init__(self) -> None:
             columns=[
                 ColumnValue('tid'),
                 ColumnValue('dds_write_timestamp'),
-                ColumnValue('rmw_publisher_handle'),
                 ColumnValue('message'),
             ]
         )
@@ -536,13 +535,11 @@ def add_dds_write_instance(
         self,
         tid: int,
         timestamp: int,
-        rmw_publisher_handle: int,
         message: int,
     ) -> None:
         record = {
             'tid': tid,
             'dds_write_timestamp': timestamp,
-            'rmw_publisher_handle': rmw_publisher_handle,
             'message': message,
         }
         self.dds_write_instances.append(record)

diff --git a/src/caret_analyze/infra/lttng/ros2_tracing/processor.py b/src/caret_analyze/infra/lttng/ros2_tracing/processor.py
@@ -19,8 +19,6 @@
 
 from collections import defaultdict
 
-import os
-
 from typing import Any, TYPE_CHECKING
 
 import bt2
@@ -886,13 +884,9 @@ def _handle_dds_write(
         tid = get_field(event, '_vtid')
         # memo: "timestamp" is not read because alternative data is used
         # memo: "timestamp" and "_timestamp" are different
+        # memo: "rmw_publisher_handle" is not used so will not be loaded
 
-        ros_version = os.environ['ROS_DISTRO']
-        if ros_version[0] >= 'jazzy'[0]:
-            rmw_publisher_handle = get_field(event, 'rmw_publisher_handle')
-            self.data.add_dds_write_instance(tid, timestamp, rmw_publisher_handle, message)
-        else:
-            self.data.add_dds_write_instance(tid, timestamp, 0, message)
+        self.data.add_dds_write_instance(tid, timestamp, message)
 
     def _handle_dds_bind_addr_to_stamp(
         self,
@@ -954,7 +948,7 @@ def _handle_executor_entity_collector_to_executor(
         executor_addr = get_field(event, 'executor_addr')
         executor_entities_collector_addr = get_field(event, 'executor_entities_collector_addr')
 
-        executor_addr = self._remapper.executor_addr_remapper.register_and_get_object_id(
+        executor_addr = self._remapper.executor_addr_remapper.get_nearest_object_id(
             executor_addr, event)
         executor_entities_collector_addr = \
             self._remapper.executor_entities_collector_addr_remapper.register_and_get_object_id(
@@ -970,14 +964,8 @@ def _handle_construct_executor(
         executor_addr = get_field(event, 'executor_addr')
         executor_type_name = get_field(event, 'executor_type_name')
 
-        ros_version = os.environ['ROS_DISTRO']
-
-        if ros_version[0] >= 'jazzy'[0]:
-            executor_addr = \
-                self._remapper.executor_addr_remapper.get_nearest_object_id(executor_addr, event)
-        else:
-            executor_addr = self._remapper.executor_addr_remapper.register_and_get_object_id(
-                executor_addr, event)
+        executor_addr = self._remapper.executor_addr_remapper.register_and_get_object_id(
+            executor_addr, event)
 
         self.data.add_executor(executor_addr, timestamp, executor_type_name)
 
@@ -990,14 +978,8 @@ def _handle_construct_static_executor(
         collector_addr = get_field(event, 'entities_collector_addr')
         executor_type_name = get_field(event, 'executor_type_name')
 
-        ros_version = os.environ['ROS_DISTRO']
-
-        if ros_version[0] >= 'jazzy'[0]:
-            executor_addr = \
-                self._remapper.executor_addr_remapper.get_nearest_object_id(executor_addr, event)
-        else:
-            executor_addr = self._remapper.executor_addr_remapper.register_and_get_object_id(
-                executor_addr, event)
+        executor_addr = self._remapper.executor_addr_remapper.register_and_get_object_id(
+            executor_addr, event)
 
         collector_addr = \
             self._remapper.entities_collector_addr_remapper.register_and_get_object_id(

diff --git a/src/test/infra/lttng/ros2_tracing/test_ros2_tracing.py b/src/test/infra/lttng/ros2_tracing/test_ros2_tracing.py
@@ -39,7 +39,7 @@ def test_add_tracepoints(self):
         data.add_rclcpp_intra_publish_instance(0, 0, 0, 0, 0)
         data.add_rclcpp_publish_instance(0, 0, 0, 0, 0)
         data.add_rcl_publish_instance(0, 0, 0, 0)
-        data.add_dds_write_instance(0, 0, 0, 0)
+        data.add_dds_write_instance(0, 0, 0)
         data.add_dds_bind_addr_to_addr(0, 0, 0)
         data.add_message_construct_instance(0, 0, 0)
         data.add_dispatch_subscription_callback_instance(0, 0, 0, 0, 0)

diff --git a/src/test/infra/lttng/test_event_counter.py b/src/test/infra/lttng/test_event_counter.py
@@ -61,7 +61,7 @@ def test_build_count_df_increment_count(self):
         data.add_rclcpp_ring_buffer_dequeue_instance(0, 0, 0, 0, 0)
         data.add_rclcpp_publish_instance(0, 0, 0, 0, 0)
         data.add_rcl_publish_instance(0, 0, 0, 0)
-        data.add_dds_write_instance(0, 0, 0, 0)
+        data.add_dds_write_instance(0, 0, 0)
         data.add_dds_bind_addr_to_addr(0, 0, 0)
         data.add_dds_bind_addr_to_stamp(0, 0, 0, 0)
         data.add_on_data_available_instance(0, 0)
@@ -113,7 +113,7 @@ def test_validation_without_dds_tracepoint(
     ):
         data = Ros2DataModel()
         data.add_dispatch_subscription_callback_instance(0, 0, 0, 0, 0)  # pass rclcpp-check
-        data.add_dds_write_instance(0, 0, 0, 0)  # pass LD_PRELOAD check
+        data.add_dds_write_instance(0, 0, 0)  # pass LD_PRELOAD check
         data.finalize()
 
         logger = getLogger('caret_analyze.infra.lttng.event_counter')
@@ -136,7 +136,7 @@ def test_validation_without_forked_rclcpp(
         has_rmw_take,
     ):
         data = Ros2DataModel()
-        data.add_dds_write_instance(0, 0, 0, 0)  # pass LD_PRELOAD check
+        data.add_dds_write_instance(0, 0, 0)  # pass LD_PRELOAD check
         data.add_dds_bind_addr_to_stamp(0, 0, 0, 0)  # pass dds layer check
         if has_rmw_take:
             data.add_rmw_take_instance(0, 0, 0, 0, 0)  # pass rmw_take check
@@ -176,7 +176,7 @@ def test_check_original_rclcpp_publish(
     ):
         data = Ros2DataModel()
         # pass rclcpp-check
-        data.add_dds_write_instance(0, 0, 0, 0)  # pass LD_PRELOAD check
+        data.add_dds_write_instance(0, 0, 0)  # pass LD_PRELOAD check
         data.add_dds_bind_addr_to_stamp(0, 0, 0, 0)  # pass dds layer check
         data.add_rmw_take_instance(0, 0, 0, 0, 0)  # pass rmw_take check
         if use_caret_rclcpp:
@@ -205,7 +205,7 @@ def test_distributions(
 
         distribution = 'distribution'
         data.add_caret_init(0, 0, distribution)
-        data.add_dds_write_instance(0, 0, 0, 0)  # pass LD_PRELOAD check
+        data.add_dds_write_instance(0, 0, 0)  # pass LD_PRELOAD check
         data.add_dds_bind_addr_to_stamp(0, 0, 0, 0)  # pass dds layer check
         data.finalize()
 
@@ -223,7 +223,7 @@ def test_validation_with_distribution(
     ):
         data = Ros2DataModel()
         data.add_caret_init(0, 0, distribution)
-        data.add_dds_write_instance(0, 0, 0, 0)  # pass LD_PRELOAD check
+        data.add_dds_write_instance(0, 0, 0)  # pass LD_PRELOAD check
         data.add_dds_bind_addr_to_stamp(0, 0, 0, 0)  # pass dds layer check
         data.finalize()
 
@@ -243,7 +243,7 @@ def test_validation_valid_case(
     ):
         data = Ros2DataModel()
         data.add_dispatch_subscription_callback_instance(0, 0, 0, 0, 0)  # pass rclcpp-check
-        data.add_dds_write_instance(0, 0, 0, 0)  # pass LD_PRELOAD check
+        data.add_dds_write_instance(0, 0, 0)  # pass LD_PRELOAD check
         data.add_dds_bind_addr_to_stamp(0, 0, 0, 0)  # pass dds layer check
         data.finalize()
 

diff --git a/src/test/infra/lttng/test_latency_definitions.py b/src/test/infra/lttng/test_latency_definitions.py
@@ -531,7 +531,7 @@ def test_single_publisher_without_tilde(
             data.add_rclcpp_publish_instance(
                 tid, 1, 0, message_addr, message_timestamp)
         data.add_rcl_publish_instance(tid, 2, pub_handle, message_addr)
-        data.add_dds_write_instance(tid, 3, 0, message_addr)
+        data.add_dds_write_instance(tid, 3, message_addr)
         data.add_dds_bind_addr_to_stamp(
             tid, 4, message_addr, source_timestamp)
         data.finalize()
@@ -686,7 +686,7 @@ def test_single_publisher_with_tilde(
             data.add_rclcpp_publish_instance(
                 tid, 2, 0, message_addr, message_timestamp)
         data.add_rcl_publish_instance(tid, 3, pub_handle, message_addr)
-        data.add_dds_write_instance(tid, 4, 0, message_addr)
+        data.add_dds_write_instance(tid, 4, message_addr)
         data.add_dds_bind_addr_to_stamp(
             tid, 5, message_addr, source_timestamp)
         data.finalize()
@@ -750,7 +750,7 @@ def test_generic_publisher(
         message_addr = 9
         data.add_rclcpp_publish_instance(tid, 2, pub_handle, message_addr, message_timestamp)
         data.add_rcl_publish_instance(tid, 3, pub_handle, message_addr)
-        data.add_dds_write_instance(tid, 4, 0, message_addr)
+        data.add_dds_write_instance(tid, 4, message_addr)
         data.add_dds_bind_addr_to_stamp(tid, 6, message_addr, source_timestamp)
 
         # generic_publisher
@@ -1287,7 +1287,7 @@ def test_tilde(
         data.add_rclcpp_publish_instance(
             tid, 4, pub_handle, message_addr, message_timestamp)
         data.add_rcl_publish_instance(tid, 5, pub_handle, message_addr)
-        data.add_dds_write_instance(tid, 6, 0, message_addr)
+        data.add_dds_write_instance(tid, 6, message_addr)
         data.add_dds_bind_addr_to_stamp(tid, 7, message_addr, source_timestamp)
         data.finalize()
 
@@ -1420,7 +1420,7 @@ def test_inter_proc(
         data.add_rclcpp_publish_instance(
             tid, 1, pub_handle, send_message, message_stamp)
         data.add_rcl_publish_instance(tid, 2, pub_handle, send_message)
-        data.add_dds_write_instance(tid, 3, 0, send_message)
+        data.add_dds_write_instance(tid, 3, send_message)
         data.add_dds_bind_addr_to_stamp(
             tid, 4, send_message, source_stamp)
         if has_dispatch: