Skip to content

Commit 89bbf0a

Browse files
RaphvKRaphvK
committed
add tracing script
1 parent b01eebf commit 89bbf0a

1 file changed

Lines changed: 223 additions & 0 deletions

File tree

‎utils/tracing/tracing.sh‎

Lines changed: 223 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,223 @@
1+
#!/bin/bash
2+
3+
# Usage: ./tracing.sh {start|stop}
4+
5+
if [ $# -ne 1 ]; then
6+
echo "Usage: $0 {start|stop}"
7+
exit 1
8+
fi
9+
10+
ACTION=$1
11+
TIMESTAMP=$(date +%Y-%m-%d_%H-%M-%S)
12+
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
13+
14+
# List of container name substrings to trace
15+
# Default container substrings
16+
DEFAULT_CONTAINER_SUBSTRINGS=(
17+
"perception.point-cloud-fusion"
18+
"perception.point-cloud-object-detection"
19+
"understanding.autoware-multi-object-tracker"
20+
"understanding.lanelet2-object-list-prediction"
21+
"planning.simple-planner"
22+
"planning.trajectory-optimization"
23+
"control.ackermann-trajectory-control"
24+
)
25+
26+
# Allow additional container substrings via EXTRA_TRACING_CONTAINERS env var
27+
# e.g. EXTRA_TRACING_CONTAINERS="my-container-1 my-other-container-1" ./tracing.sh start
28+
EXTRA_SUBSTRINGS=()
29+
if [ -n "$EXTRA_TRACING_CONTAINERS" ]; then
30+
IFS=' ' read -ra EXTRA_SUBSTRINGS <<< "$EXTRA_TRACING_CONTAINERS"
31+
fi
32+
33+
CONTAINER_SUBSTRINGS=("${DEFAULT_CONTAINER_SUBSTRINGS[@]}" "${EXTRA_SUBSTRINGS[@]}")
34+
35+
DOCKER_USER="dockeruser"
36+
TRACE_ROOT="/home/dockeruser/.ros/tracing"
37+
38+
format_target_label() {
39+
local target_type=$1
40+
local target_namespace=$2
41+
local target_name=$3
42+
43+
if [ "$target_type" == "docker" ]; then
44+
echo "$target_name"
45+
else
46+
echo "$target_namespace/$target_name"
47+
fi
48+
}
49+
50+
format_target_output_dir() {
51+
local target_type=$1
52+
local target_namespace=$2
53+
local target_name=$3
54+
55+
if [ "$target_type" == "docker" ]; then
56+
echo "$target_name"
57+
else
58+
echo "k8s-${target_namespace}-${target_name}"
59+
fi
60+
}
61+
62+
exec_in_target() {
63+
local target_type=$1
64+
local target_namespace=$2
65+
local target_name=$3
66+
local command=$4
67+
68+
if [ "$target_type" == "docker" ]; then
69+
docker exec --user "$DOCKER_USER" "$target_name" bash -ic "$command"
70+
else
71+
kubectl exec -n "$target_namespace" "$target_name" -- bash -ic "$command"
72+
fi
73+
}
74+
75+
copy_trace_from_target() {
76+
local target_type=$1
77+
local target_namespace=$2
78+
local target_name=$3
79+
local destination_dir=$4
80+
81+
if [ "$target_type" == "docker" ]; then
82+
docker cp "$target_name:$TRACE_ROOT/trace" "$destination_dir"
83+
else
84+
kubectl cp "$target_namespace/$target_name:/root/.ros/tracing/trace" "$destination_dir"
85+
fi
86+
}
87+
88+
# Arrays to track results
89+
SUCCESS_TARGETS=()
90+
FAILED_TARGETS=()
91+
MISSING_TARGETS=()
92+
93+
# Validate action
94+
if [ "$ACTION" != "start" ] && [ "$ACTION" != "stop" ]; then
95+
echo "Usage: $0 {start|stop}"
96+
exit 1
97+
fi
98+
99+
mapfile -t RUNNING_CONTAINERS < <(docker ps --format '{{.Names}}' 2>/dev/null)
100+
mapfile -t RUNNING_PODS < <(kubectl get pods -A --field-selector=status.phase=Running --no-headers -o custom-columns=NS:.metadata.namespace,NAME:.metadata.name 2>/dev/null)
101+
102+
for substring in "${CONTAINER_SUBSTRINGS[@]}"; do
103+
MATCHED_TARGETS=()
104+
105+
for container in "${RUNNING_CONTAINERS[@]}"; do
106+
if [[ "$container" == *"$substring"* ]]; then
107+
MATCHED_TARGETS+=("docker||$container")
108+
fi
109+
done
110+
111+
for pod_entry in "${RUNNING_PODS[@]}"; do
112+
read -r namespace pod_name <<< "$pod_entry"
113+
if [[ "$pod_name" == *"$substring"* ]]; then
114+
MATCHED_TARGETS+=("k8s|$namespace|$pod_name")
115+
fi
116+
done
117+
118+
if [ ${#MATCHED_TARGETS[@]} -eq 0 ]; then
119+
echo "Warning: No running target containing '$substring'."
120+
MISSING_TARGETS+=("$substring")
121+
continue
122+
fi
123+
124+
for target in "${MATCHED_TARGETS[@]}"; do
125+
target_type=${target%%|*}
126+
target_remainder=${target#*|}
127+
target_namespace=${target_remainder%%|*}
128+
target_name=${target_remainder#*|}
129+
(
130+
TARGET_LABEL=$(format_target_label "$target_type" "$target_namespace" "$target_name")
131+
132+
if [ "$ACTION" == "start" ]; then
133+
echo "Starting tracing in target: $TARGET_LABEL"
134+
135+
TRACE_COMMAND="ros2 trace start trace --dual-session"
136+
exec_in_target "$target_type" "$target_namespace" "$target_name" "$TRACE_COMMAND"
137+
138+
if [ $? -eq 0 ]; then
139+
echo "$TARGET_LABEL" >> /tmp/tracing_success_$$
140+
else
141+
echo "$TARGET_LABEL" >> /tmp/tracing_failed_$$
142+
fi
143+
144+
elif [ "$ACTION" == "stop" ]; then
145+
echo "Stopping tracing in target: $TARGET_LABEL"
146+
STOP_COMMAND="ros2 trace stop trace --dual-session"
147+
exec_in_target "$target_type" "$target_namespace" "$target_name" "$STOP_COMMAND"
148+
149+
STOP_STATUS=$?
150+
151+
echo "Copy trace files from target: $TARGET_LABEL"
152+
TARGET_OUTPUT_DIR="$SCRIPT_DIR/trace/$TIMESTAMP/$(format_target_output_dir "$target_type" "$target_namespace" "$target_name")"
153+
mkdir -p "$TARGET_OUTPUT_DIR"
154+
copy_trace_from_target "$target_type" "$target_namespace" "$target_name" "$TARGET_OUTPUT_DIR"
155+
156+
COPY_STATUS=$?
157+
158+
echo "Removing trace files from target: $TARGET_LABEL"
159+
REMOVE_COMMAND="rm -rf $TRACE_ROOT"
160+
exec_in_target "$target_type" "$target_namespace" "$target_name" "$REMOVE_COMMAND"
161+
162+
REMOVE_STATUS=$?
163+
164+
if [ $STOP_STATUS -eq 0 ] && [ $COPY_STATUS -eq 0 ] && [ $REMOVE_STATUS -eq 0 ]; then
165+
echo "$TARGET_LABEL" >> /tmp/tracing_success_$$
166+
else
167+
echo "$TARGET_LABEL" >> /tmp/tracing_failed_$$
168+
fi
169+
fi
170+
) &
171+
done
172+
done
173+
174+
# Wait for all background jobs to complete
175+
wait
176+
177+
# Read results from temporary files
178+
if [ -f /tmp/tracing_success_$$ ]; then
179+
mapfile -t SUCCESS_TARGETS < /tmp/tracing_success_$$
180+
rm /tmp/tracing_success_$$
181+
fi
182+
183+
if [ -f /tmp/tracing_failed_$$ ]; then
184+
mapfile -t FAILED_TARGETS < /tmp/tracing_failed_$$
185+
rm /tmp/tracing_failed_$$
186+
fi
187+
188+
# Print summary
189+
echo ""
190+
echo "============================================"
191+
echo "Summary - $ACTION operation:"
192+
echo "============================================"
193+
194+
if [ ${#SUCCESS_TARGETS[@]} -gt 0 ]; then
195+
echo "✓ Successfully ${ACTION}ed tracing for ${#SUCCESS_TARGETS[@]} target(s):"
196+
for target in "${SUCCESS_TARGETS[@]}"; do
197+
echo " - $target"
198+
done
199+
else
200+
echo "✓ No targets ${ACTION}ed successfully"
201+
fi
202+
203+
echo ""
204+
205+
if [ ${#FAILED_TARGETS[@]} -gt 0 ]; then
206+
echo "✗ Failed to $ACTION tracing for ${#FAILED_TARGETS[@]} target(s):"
207+
for target in "${FAILED_TARGETS[@]}"; do
208+
echo " - $target"
209+
done
210+
else
211+
echo "✗ No failures"
212+
fi
213+
214+
echo ""
215+
216+
if [ ${#MISSING_TARGETS[@]} -gt 0 ]; then
217+
echo "⚠ Missing ${#MISSING_TARGETS[@]} target(s) (not running):"
218+
for substring in "${MISSING_TARGETS[@]}"; do
219+
echo " - $substring"
220+
done
221+
fi
222+
223+
echo "============================================="

0 commit comments

Comments
 (0)