YAETS: Yet Another Execution Tracing System

YAETS is a library designed to trace function execution in C++ asynchronously, combined with Python tools to analyze the results through Gantt charts and histograms.

Features

• Function tracing using the TraceSession, TraceGuard, NamedSharedTrace, and TraceRegistry classes.
• Asynchronous logging of trace events to prevent performance overhead.
• Python scripts to visualize traces as Gantt charts or analyze timing gaps between traces using histograms.

Table of Contents

• YAETS: Yet Another Execution Tracing System
  • Features
  • Table of Contents
  • Installation
    • Requirements
    • Building the C++ Library without ROS
    • Building the C++ Library with ROS 2
  • Usage
    • C++ Tracing Library
      • Example
    • Advanced Tracing with NamedSharedTrace and TraceRegistry
      • NamedSharedTrace
      • Using TraceRegistry to Manage Shared Traces by ID
    • Using Macros with NamedSharedTrace
      • Example 1
      • Example 2
    • How It Works
      • Key Methods
    • Python Gantt Chart Script
      • Usage
      • Options
    • Python Histogram Script for ellapsed time
      • Usage
      • Options
    • Python Histogram Script for execution time
      • Usage
      • Options
  • Building and Running Tests
  • Tracing Session
    • Code to trace:
    • Running and getting graphs
  • License

Installation

Requirements

• C++17 or later
• CMake for building the project
• Python 3.6+ for running the scripts
• Matplotlib for visualizing data in Python

Building the C++ Library without ROS

1. Clone the repository and navigate to the project directory:

    git clone https://github.com/fmrico/yaets.git
    cd yaets
    

1. Build the library using CMake:

    mkdir build
    cd build
    cmake ..
    make
    

1. Install the library:

    sudo make install
    

Building the C++ Library with ROS 2

1. Clone the repository and navigate to the project directory:

    cd my_ros_ws/src
    git clone https://github.com/fmrico/yaets.git
    cd ..
    

1. Build the library using Colcon:

    colcon build
    

Usage

C++ Tracing Library

File truncated at 100 lines see the full file

Changelog for package yaets

1.0.4 (2025-10-16)

• Merge branch 'rolling' into jazzy-devel
• Contributors: Francisco Martín Rico

1.0.3 (2025-10-13)

• Add python dep to package.xml
• Contributors: Francisco Martín Rico

1.0.2 (2025-10-13)

• Fix python shebang
• Contributors: Francisco Martín Rico

1.0.1 (2025-10-12)

1.0.0 (2025-09-26)

• Add all diagrams script
• Add stats script
• Add cmake export targets
• Fix yaets name
• Update README.md
• One extra exmaple in README
• Fix documentation
• Remove font sizes
• Add end to end traces
• set CI
• Update README.md
• Initial commit
• Contributors: Francisco Miguel Moreno Olivo, Francisco Martín Rico