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feat: add ignore processes filter #273

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merged 6 commits into from
Mar 22, 2024
Merged

feat: add ignore processes filter #273

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cf4201f
add environment variable CARET_IGNORE_PROCESSES.
xygyo77 Mar 6, 2024
bb9164e
add CARET_IGNORE_PROCESSES environment variable
xygyo77 Mar 7, 2024
d24f44b
fixed
xygyo77 Mar 7, 2024
ac9e470
ci(pre-commit): autofix
pre-commit-ci[bot] Mar 7, 2024
520ab39
PR Review Reflection
xygyo77 Mar 11, 2024
70fbecd
ci(pre-commit): autofix
pre-commit-ci[bot] Mar 11, 2024
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7 changes: 7 additions & 0 deletions CARET_trace/include/caret_trace/tracing_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -120,6 +120,10 @@ class TracingController
/// @return True if the buffer is enabled, false otherwise.
bool is_allowed_buffer(const void * buffer);

/// @brief Check if current process is allowed to output trace events
/// @return True if the process is enabled, false otherwise.
bool is_allowed_process();

private:
void debug(std::string message) const;
void info(std::string message) const;
Expand All @@ -132,10 +136,13 @@ class TracingController
const std::unordered_set<std::string> ignored_node_names_;
const std::unordered_set<std::string> selected_topic_names_;
const std::unordered_set<std::string> ignored_topic_names_;
const std::unordered_set<std::string> ignored_process_names_;

const bool select_enabled_;
const bool ignore_enabled_;

bool is_ignored_process_;

const bool use_log_; // for test

std::unordered_map<const void *, const void *> subscription_handle_to_node_handles_;
Expand Down
67 changes: 59 additions & 8 deletions CARET_trace/src/hooked_trace_points.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -189,17 +189,19 @@
"Could not load library %s: %s", library_name.c_str(), e.what());
}

static auto record = [](const char * rmw_implementation, int64_t init_time) {
tracepoint(TRACEPOINT_PROVIDER, rmw_implementation, rmw_implementation, init_time);
};
if (context.get_controller().is_allowed_process()) {
static auto record = [](const char * rmw_implementation, int64_t init_time) {
tracepoint(TRACEPOINT_PROVIDER, rmw_implementation, rmw_implementation, init_time);
};

if (!data_container.is_assigned_rmw_implementation()) {
data_container.assign_rmw_implementation(record);
}
if (!data_container.is_assigned_rmw_implementation()) {
data_container.assign_rmw_implementation(record);
}

data_container.store_rmw_implementation(env_var.c_str(), now);
data_container.store_rmw_implementation(env_var.c_str(), now);

record(env_var.c_str(), now);
record(env_var.c_str(), now);
}

if (env_var == "rmw_fastrtps_cpp") {
// clang-format off
Expand Down Expand Up @@ -229,6 +231,10 @@
}
int dds_return = ((functionT)CYCLONEDDS::DDS_WRITE_IMPL)(wr, data, tstamp, action);

if (!context.get_controller().is_allowed_process()) {
return dds_return;
}

if (context.is_recording_allowed() && trace_filter_is_rcl_publish_recorded) {
tracepoint(TRACEPOINT_PROVIDER, dds_bind_addr_to_stamp, data, tstamp);
#ifdef DEBUG_OUTPUT
Expand All @@ -252,6 +258,10 @@
}
int dds_return = ((functionT)CYCLONEDDS::DDS_WRITECDR_IMPL)(wr, xp, dinp, flush);

if (!context.get_controller().is_allowed_process()) {
return dds_return;
}

if (context.is_recording_allowed()) {
tracepoint(
TRACEPOINT_PROVIDER, dds_bind_addr_to_stamp, serialized_message_addr, dinp->timestamp.v);
Expand All @@ -274,6 +284,11 @@
update_dds_function_addr();
}
((functionT)FASTDDS::SET_FRAGMENTS)(obj, change);

if (!context.get_controller().is_allowed_process()) {
return;
}

if (context.is_recording_allowed()) {
tracepoint(
TRACEPOINT_PROVIDER, dds_bind_addr_to_stamp, nullptr, change->sourceTimestamp.to_ns());
Expand All @@ -297,7 +312,7 @@
}

// rclcpp::executors::SingleThreadedExecutor::SingleThreadedExecutor(rclcpp::ExecutorOptions const&)
void _ZN6rclcpp9executors22SingleThreadedExecutorC1ERKNS_15ExecutorOptionsE(

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Unknown word (ERKNS)
void * obj, const void * option)
{
static void * orig_func = dlsym(RTLD_NEXT, __func__);
Expand All @@ -315,6 +330,10 @@
using functionT = void (*)(void *, const void *);
((functionT)orig_func)(obj, option);

if (!context.get_controller().is_allowed_process()) {
return;
}

const std::string executor_type_name = "single_threaded_executor";

if (!data_container.is_assigned_construct_executor()) {
Expand All @@ -330,7 +349,7 @@
// std::chrono::duration<long, std::ratio<1l, 1000000000l> >)
void SYMBOL_CONCAT_2(
_ZN6rclcpp9executors21MultiThreadedExecutor,
C1ERKNS_15ExecutorOptionsEmbNSt6chrono8durationIlSt5ratioILl1ELl1000000000EEEE)(

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Unknown word (ERKNS)
void * obj, const void * option, size_t number_of_thread, bool yield_before_execute,
const void * timeout)
{
Expand All @@ -351,6 +370,10 @@
using functionT = void (*)(void *, const void *, size_t, bool, const void *);
((functionT)orig_func)(obj, option, number_of_thread, yield_before_execute, timeout);

if (!context.get_controller().is_allowed_process()) {
return;
}

if (!data_container.is_assigned_construct_executor()) {
data_container.assign_construct_executor(record);
}
Expand All @@ -361,7 +384,7 @@

// rclcpp::executors::StaticSingleThreadedExecutor::StaticSingleThreadedExecutor(
// rclcpp::ExecutorOptions const&)
void _ZN6rclcpp9executors28StaticSingleThreadedExecutorC1ERKNS_15ExecutorOptionsE(

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Unknown word (ERKNS)
void * obj, const void * option)
{
static void * orig_func = dlsym(RTLD_NEXT, __func__);
Expand All @@ -386,6 +409,10 @@
using functionT = void (*)(void *, const void *);
((functionT)orig_func)(obj, option);

if (!context.get_controller().is_allowed_process()) {
return;
}

using StaticSingleThreadedExecutorPublic = rclcpp::executors::StaticSingleThreadedExecutorPublic;
auto exec_ptr = reinterpret_cast<StaticSingleThreadedExecutorPublic *>(obj);

Expand Down Expand Up @@ -437,6 +464,10 @@

((functionT)orig_func)(obj, group_ptr, node_ptr, weak_groups_to_nodes, notify);

if (!context.get_controller().is_allowed_process()) {
return;
}

if (!data_container.is_assigned_add_callback_group()) {
data_container.assign_add_callback_group(record);
}
Expand Down Expand Up @@ -465,7 +496,7 @@
bool SYMBOL_CONCAT_3(
_ZN6rclcpp9executors31StaticExecutorEntitiesCollector18add_callback_groupESt10shared_ptr,
INS_13CallbackGroupEES2_INS_15node_interfaces17NodeBaseInterface,
EERSt3mapISt8weak_ptrIS3_ES9_IS6_ESt10owner_lessISA_ESaISt4pairIKSA_SB_EEE)(

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Unknown word (IKSA)
void * obj, rclcpp::CallbackGroup::SharedPtr group_ptr,
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
Expand Down Expand Up @@ -501,6 +532,10 @@

auto ret = ((functionT)orig_func)(obj, group_ptr, node_ptr, weak_groups_to_nodes);

if (!context.get_controller().is_allowed_process()) {
return ret;
}

if (!data_container.is_assigned_add_callback_group_static_executor()) {
data_container.assign_add_callback_group_static_executor(record);
}
Expand Down Expand Up @@ -534,6 +569,10 @@
auto timer_handle = static_cast<const void *>(timer_ptr->get_timer_handle().get());
((functionT)orig_func)(obj, timer_ptr);

if (!context.get_controller().is_allowed_process()) {
return;
}

if (!data_container.is_assigned_callback_group_add_timer()) {
data_container.assign_callback_group_add_timer(record);
}
Expand Down Expand Up @@ -566,6 +605,10 @@
static_cast<const void *>(subscription_ptr->get_subscription_handle().get());
((functionT)orig_func)(obj, subscription_ptr);

if (!context.get_controller().is_allowed_process()) {
return;
}

if (!data_container.is_assigned_callback_group_add_subscription()) {
data_container.assign_callback_group_add_subscription(record);
}
Expand Down Expand Up @@ -595,6 +638,10 @@
auto service_handle = static_cast<const void *>(service_ptr->get_service_handle().get());
((functionT)orig_func)(obj, service_ptr);

if (!context.get_controller().is_allowed_process()) {
return;
}

if (!data_container.is_assigned_callback_group_add_service()) {
data_container.assign_callback_group_add_service(record);
}
Expand Down Expand Up @@ -624,6 +671,10 @@
auto client_handle = static_cast<const void *>(client_ptr->get_client_handle().get());
((functionT)orig_func)(obj, client_ptr);

if (!context.get_controller().is_allowed_process()) {
return;
}

if (!data_container.is_assigned_callback_group_add_client()) {
data_container.assign_callback_group_add_client(record);
}
Expand Down
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