Infra

ArchitectureReaderLttng

Bases: ArchitectureReader

get_callback_groups(node)

Get callback groups.

Parameters:

Name	Type	Description	Default
node	NodeValue	Target node value.	required

Returns:

Type	Description
Sequence[CallbackGroupValue]	Callback group value.

get_executors()

Get executors.

Returns:

Type	Description
Sequence[ExecutorValue]	Executor value.

get_message_contexts(node)

Get message contexts.

Parameters:

Name	Type	Description	Default
node	NodeValue	Target node value.	required

Returns:

Type	Description
Sequence[dict]	Always empty sequence.

get_node_names_and_cb_symbols(callback_group_id)

Get node names and callback symbols.

Parameters:

Name	Type	Description	Default
callback_group_id	str	callback group id.	required

Returns:

Type	Description
Sequence[tuple[str | None, str | None]]	Node names and callback symbols.

get_nodes()

Get nodes.

Returns:

Type	Description
Sequence[NodeValueWithId]	Node value with id.

get_paths()

Get paths.

Returns:

Type	Description
Sequence[PathValue]	Path value.

get_publishers(node)

Get publishers.

Parameters:

Name	Type	Description	Default
node	NodeValue	Target node value.	required

Returns:

Type	Description
Sequence[PublisherValue]	Publisher value.

get_service_callbacks(node)

Get service callbacks.

Parameters:

Name	Type	Description	Default
node	NodeValue	Target node value.	required

Returns:

Type	Description
Sequence[ServiceCallbackValue]	Service callback value.

get_services(node)

Get services.

Parameters:

Name	Type	Description	Default
node	NodeValue	Target node value.	required

Returns:

Type	Description
Sequence[ServiceValue]	Service value.

get_subscription_callbacks(node)

Get subscription callbacks.

Parameters:

Name	Type	Description	Default
node	NodeValue	Target node value.	required

Returns:

Type	Description
Sequence[SubscriptionCallbackValue]	Subscription callback value.

get_subscriptions(node)

Get subscriptions.

Parameters:

Name	Type	Description	Default
node	NodeValue	Target node value.	required

Returns:

Type	Description
Sequence[SubscriptionValue]	Subscription value.

get_timer_callbacks(node)

Get timer callback values.

Parameters:

Name	Type	Description	Default
node	NodeValue	target node	required

Returns:

Type	Description
Sequence[TimerCallbackValue]	timer callback values

get_timers(node)

Get timers.

Parameters:

Name	Type	Description	Default
node	NodeValue	Target node value.	required

Returns:

Type	Description
Sequence[TimerValue]	Timer value.

get_variable_passings(node)

Get variable passings.

Parameters:

Name	Type	Description	Default
node	NodeValue	Target node value.	required

Returns:

Type	Description
Sequence[VariablePassingValue]	Always empty sequence.

ArchitectureReaderYaml

Bases: ArchitectureReader

get_callback_groups(node)

Get callback groups.

Parameters:

Name	Type	Description	Default
node	NodeValue	Target node value.	required

Returns:

Type	Description
list[CallbackGroupValue]	Callback group object of specified node defined in architecture file.

get_executors()

Get executors.

Returns:

Type	Description
list[ExecutorValue]	All executor objects defined in the architecture file.

get_message_contexts(node)

Get message contexts.

Parameters:

Name	Type	Description	Default
node	NodeValue	Target node value.	required

Returns:

Type	Description
list[dict]	Message context object of specified node defined in architecture file.

get_node_names_and_cb_symbols(callback_group_id)

Get node names and callback symbols.

Parameters:

Name	Type	Description	Default
callback_group_id	str	callback group id.	required

Returns:

Type	Description
Sequence[tuple[str | None, str | None]]	Always empty sequence.

get_nodes()

Get nodes.

Returns:

Type	Description
Sequence[NodeValueWithId]	All node objects defined in the architecture file.

get_paths()

Get paths.

Returns:

Type	Description
list[PathValue]	All path information objects defined in the architecture file.

get_publishers(node)

Get publishers.

Parameters:

Name	Type	Description	Default
node	NodeValue	Target node value.	required

Returns:

Type	Description
list[PublisherValue]	Publisher object of specified node defined in architecture file.

get_service_callbacks(node)

Get service callbacks.

Parameters:

Name	Type	Description	Default
node	NodeValue	Target node value.	required

Returns:

Type	Description
Sequence[ServiceCallbackValue]	Always empty sequence.

get_services(node)

Get services.

Parameters:

Name	Type	Description	Default
node	NodeValue	Target node value.	required

Returns:

Type	Description
Sequence[ServiceValue]	Always empty sequence.

get_subscription_callbacks(node)

Get subscription callbacks.

Parameters:

Name	Type	Description	Default
node	NodeValue	Target node value.	required

Returns:

Type	Description
list[SubscriptionCallbackValue]	Subscription callback object of specified node defined in architecture file.

get_subscriptions(node)

Get subscriptions.

Parameters:

Name	Type	Description	Default
node	NodeValue	Target node value.	required

Returns:

Type	Description
list[SubscriptionValue]	Subscription object of specified node defined in architecture file.

get_timer_callbacks(node)

Get timer callback values.

Parameters:

Name	Type	Description	Default
node	NodeValue	target node	required

Returns:

Type	Description
list[TimerCallbackValue]	Timer callback object of specified node defined in architecture file.

get_timers(node)

Get timers.

Parameters:

Name	Type	Description	Default
node	NodeValue	Target node value.	required

Returns:

Type	Description
list[TimerValue]	Timer object of specified node defined in architecture file.

get_variable_passings(node)

Get variable passings.

Parameters:

Name	Type	Description	Default
node	NodeValue	Target node value.	required

Returns:

Type	Description
list[VariablePassingValue]	Variable passing object of specified node defined in architecture file.

InfraBase

infrastructure base class.

Lttng

Bases: InfraBase

Lttng data container class.

This class is a singleton in order to retain information. The main processing is done by LttngInfo and RecordsSource.

apply_init_timestamp(events, monotonic_to_system_offset) staticmethod

Apply init timestamp.

Parameters:

Name	Type	Description	Default
events	list	event data.	required
monotonic_to_system_offset	int | None	monotonic to system offset.	required

compose_callback_records()

Compose callback records of all communications in one records.

Returns:

Type	Description
RecordsInterface	Columns callback_start_timestamp callback_end_timestamp callback_object

compose_intra_proc_comm_records()

Compose intra process communication records of all communications in one records.

Returns:

Type	Description
RecordsInterface	Columns tid callback_object callback_start_timestamp publisher_handle rclcpp_publish_timestamp message_timestamp

compose_path_beginning_records()

Compose callback records.

Used to evaluate the beginning node of a path.

Returns:

Type	Description
RecordsInterface	Columns callback_start_timestamp rclcpp_publish_timestamp callback_object publisher_handle

compose_publish_records()

Compose publish records of all communications in one records.

Returns:

Type	Description
RecordsInterface	Columns publisher_handle rclcpp_publish_timestamp rcl_publish_timestamp (Optional) dds_write_timestamp (Optional) message_timestamp source_timestamp

compose_rmw_take_records()

Compose rmw_take records of all communications in one records.

Returns:

Type	Description
RecordsInterface	Columns tid rmw_take_timestamp rmw_subscription_handle message source_timestamp

compose_subscribe_records()

Compose subscribe records of all communications in one records.

Returns:

Type	Description
RecordsInterface	Columns callback_start_timestamp callback_object is_intra_process source_timestamp

compose_tilde_publish_records()

Compose tilde publish records of all communications in one records.

Returns:

Type	Description
RecordsInterface	Columns tilde_publish_timestamp tilde_publisher tilde_message_id tilde_subscription

compose_tilde_subscribe_records()

Compose tilde subscribe records of all communications in one records.

Returns:

Type	Description
RecordsInterface	Columns tilde_subscribe_timestamp tilde_subscription tilde_message_id

create_timer_events_factory(timer_callback)

Create timer events factory.

Parameters:

Name	Type	Description	Default
timer_callback	TimerCallbackValueLttng	Timer callback.	required

Returns:

Type	Description
EventsFactory	Callback to create timer events.

get_callback_groups(node)

Get callback group information.

Parameters:

Name	Type	Description	Default
node	NodeValue	Target node.	required

Returns:

Type	Description
Sequence[CallbackGroupValue]	Callback group value.

get_count(groupby=None)

Get count.

Parameters:

Name	Type	Description	Default
groupby	list[str] | None	Data group.	None

Returns:

Type	Description
DataFrame	Event counter in pandas DataFrame format.

get_executors()

Get executors information.

Returns:

Type	Description
Sequence[ExecutorValue]	Executor values

get_node_names_and_cb_symbols(callback_group_id)

Get node names and callback symbols from callback group id.

Parameters:

Name	Type	Description	Default
callback_group_id	str	Callback group id.	required

Returns:

Type	Description
Sequence[tuple[str | None, str | None]]	Node names and callback symbols. tuple structure: (node_name, callback_symbol)

get_nodes()

Get nodes.

Returns:

Type	Description
Sequence[NodeValueWithId]	Nodes value.

get_publisher_qos(pub)

Get publisher qos.

Parameters:

Name	Type	Description	Default
pub	PublisherValueLttng	Target publisher.	required

Returns:

Type	Description
Qos	Publisher qos

get_publishers(node)

Get publishers information.

Parameters:

Name	Type	Description	Default
node	NodeValue	Target node.	required

Returns:

Type	Description
Sequence[PublisherValueLttng]	Publisher value.

get_rmw_impl()

Get rmw implementation.

Returns:

Type	Description
str	Name of rmw implementation.

get_service_callbacks(node)

Get service callbacks information.

Parameters:

Name	Type	Description	Default
node	NodeValue	Target node.	required

Returns:

Type	Description
Sequence[ServiceCallbackValueLttng]	Service callback value

get_services(node)

Get services information.

Parameters:

Name	Type	Description	Default
node	NodeValue	Target node.	required

Returns:

Type	Description
Sequence[ServiceValue]	Service value

get_sim_time_converter(min_ns, max_ns)

Get sim time converter.

Parameters:

Name	Type	Description	Default
min_ns	float	Min time.	required
max_ns	float	Max time.	required

Returns:

Type	Description
ClockConverter	Clock converter

Raises:

Type	Description
InvalidArgumentError	Failed to load sim_time.

get_subscription_callbacks(node)

Get subscription callbacks information.

Parameters:

Name	Type	Description	Default
node	NodeValue	Target node.	required

Returns:

Type	Description
Sequence[SubscriptionCallbackValueLttng]	Subscription callback value

get_subscription_qos(sub)

Get subscription qos.

Parameters:

Name	Type	Description	Default
sub	SubscriptionCallbackValueLttng	Target subscription.	required

Returns:

Type	Description
Qos	Subscription qos

get_subscriptions(node)

Get subscriptions information.

Parameters:

Name	Type	Description	Default
node	NodeValue	Target node.	required

Returns:

Type	Description
Sequence[SubscriptionValue]	Subscription value.

get_timer_callbacks(node)

Get timer callback values.

Parameters:

Name	Type	Description	Default
node	NodeValue	Target node.	required

Returns:

Type	Description
Sequence[TimerCallbackValueLttng]	Timer callback value

get_timers(node)

Get timers information.

Parameters:

Name	Type	Description	Default
node	NodeValue	Target node.	required

Returns:

Type	Description
Sequence[TimerValue]	Timer value

get_trace_creation_datetime()

Get trace creation datetime.

Returns:

Type	Description
datetime	Date and time the trace data was created.

get_trace_range()

Get trace range.

Returns:

Type	Description
tuple[datetime, datetime]	Trace begin time and trace end time.

RecordsProvider

callback_records(callback_info) abstractmethod

Compose callback records.

Parameters:

Name	Type	Description	Default
callback_info	CallbackStructValue	Static info of callback.	required

Returns:

Type	Description
RecordsInterface	Records interface

variable_passing_records(variable_passing_info) abstractmethod

Compose variable passing records.

Parameters:

Name	Type	Description	Default
variable_passing_info	VariablePassingStructValue	variable passing information	required

Returns:

Type	Description
RecordsInterface	Records interface

RecordsProviderLttng

Bases: RuntimeDataProvider

Records are processed and measurement results are calculated.

In addition to merging, filtering and other operations are performed here.

callback_records(callback)

Return callback duration records.

Parameters:

Name	Type	Description	Default
callback	CallbackStructValue	Target callback value.	required

Returns:

Type	Description
RecordsInterface	Columns [callback_name]/callback_start_timestamp [callback_name]/callback_end_timestamp

communication_records(comm_val)

Provide communication records.

Parameters:

Name	Type	Description	Default
comm_val	CommunicationStructValue	communication value.	required

Returns:

Type	Description
RecordsInterface	Columns If inter-proc communication [topic_name]/rclcpp_publish_timestamp [topic_name]/rcl_publish_timestamp (Optional) [topic_name]/dds_publish_timestamp (Optional) [topic_name]/source_timestamp [callback_name]/callback_start_timestamp If intra-proc communication [topic_name]/rclcpp_publish_timestamp [callback_name]/callback_start_timestamp

get_qos(pub_sub)

Get qos.

Parameters:

Name	Type	Description	Default
pub_sub	PublisherStructValue | SubscriptionStructValue	Target subscription or publisher.	required

Returns:

Type	Description
Qos	Subscription qos or publisher qos.

Raises:

Type	Description
InvalidArgumentError	Occurs when callback were not exist.

get_rmw_implementation()

Get rmw implementation.

Returns:

Type	Description
str	Rmw implementation.

get_sim_time_converter(min_ns, max_ns)

Get sim time converter.

Parameters:

Name	Type	Description	Default
min_ns	float	Minimum timestamp value of the data used to create the system time to sim_time converter.	required
max_ns	float	Maximum timestamp value of the data used to create the system time to sim_time converter.	required

Returns:

Type	Description
ClockConverter	Object that converts timestamps from system time to sim_time.

Raises:

Type	Description
InvalidArgumentError	Failed to load sim_time.

is_intra_process_communication(communication_value)

If inter-proc communication.

Parameters:

Name	Type	Description	Default
communication_value	CommunicationStructValue	Communication value.	required

Returns:

Type	Description
bool | None	Intra process communication records count.

node_records(node_path_val)

Provide node records.

Parameters:

Name	Type	Description	Default
node_path_val	NodePathStructValue	Node path value.	required

Returns:

Type	Description
RecordsInterface	Record corresponding to specified message context type.

Raises:

Type	Description
UnsupportedNodeRecordsError	Occurs when message context type is unknown.

path_beginning_records(publisher)

Return records from callback_start to publish.

Parameters:

Name	Type	Description	Default
publisher	PublisherStructValue	Target publisher.	required

Returns:

Type	Description
RecordsInterface	Columns [node_name]/callback_start_timestamp [topic_name]/rclcpp_publish_timestamp

path_end_records(callback)

Return records from callback_start to callback_end.

Parameters:

Name	Type	Description	Default
callback	CallbackStructValue	Target callback.	required

Returns:

Type	Description
RecordsInterface	Columns [callback_name]/callback_start_timestamp [callback_name]/callback_end_timestamp

publish_records(publisher)

Return publish records.

Parameters:

Name	Type	Description	Default
publisher	PublisherStructValue	Target publisher.	required

Returns:

Type

Description

RecordsInterface

(in the case of tilde publisher) Columns [topic_name]/rclcpp_publish_timestamp [topic_name]/rcl_publish_timestamp (Optional) [topic_name]/dds_write_timestamp (Optional) [topic_name]/message_timestamp [topic_name]/source_timestamp [topic_name]/tilde_publish_timestamp [topic_name]/tilde_message_id (for cases other than tilde publisher) Columns [topic_name]/rclcpp_publish_timestamp [topic_name]/rcl_publish_timestamp (Optional) [topic_name]/dds_write_timestamp (Optional) [topic_name]/message_timestamp [topic_name]/source_timestamp

subscribe_records(subscription)

Provide subscription records.

Parameters:

Name	Type	Description	Default
subscription	SubscriptionStructValue	Target subscription value.	required

Returns:

Type	Description
RecordsInterface	Columns [callback_name]/callback_start_timestamp [topic_name]/source_timestamp

Raises:

Type	Description
InvalidArgumentError	Occurs when callback value were not exist.

subscription_take_records(subscription)

Provide subscription records.

This method is implemented for nodes which receive messages by 'take' method instead of subscription callbacks.

Parameters:

Name	Type	Description	Default
subscription	SubscriptionStructValue	Target subscription value.	required

Returns:

Type	Description
RecordsInterface	Columns [topic_name]/source_timestamp rmw_take_timestamp

Raises:

Type	Description
InvalidArgumentError	Occurs when callback value were not exist.

tilde_records(subscription, publisher)

Return tilde records.

Parameters:

Name	Type	Description	Default
subscription	SubscriptionStructValue	Target subscription value.	required
publisher	PublisherStructValue	Target publisher value.	required

Returns:

Type	Description
RecordsInterface	Columns tilde_subscribe_timestamp tilde_publish_timestamp

timer_records(timer)

Return timer records.

Parameters:

Name	Type	Description	Default
timer	TimerStructValue	Target timer.	required

Returns:

Type	Description
RecordsInterface	Columns [callback_name]/timer_event [callback_name]/callback_start [callback_name]/callback_end

variable_passing_records(variable_passing_info)

Return variable passing records.

Parameters:

Name	Type	Description	Default
variable_passing_info	VariablePassingStructValue	Target variable passing info.	required

Returns:

Type	Description
RecordsInterface	Columns [callback_name]/callback_end_timestamp [callback_name]/callback_start_timestamp

verify_communication(communication)

Verify communication.

Parameters:

Name	Type	Description	Default
communication	CommunicationStructValue	Communication value.	required

Returns:

Type	Description
bool	True if the trace points required to constitute a communication record are included in the trace data, false otherwise.