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

Contribution Guidelines

As an open-source project, we welcome and encourage the community to submit patches directly to the YAETS. In our collaborative open source environment, standards and methods for submitting changes help reduce the chaos that can result from an active development community.

This document explains how to participate in project conversations, log and track bugs and enhancement requests, and submit patches to the project so your patch will be accepted quickly in the codebase.

Licensing Licensing is very important to open source projects. It helps ensure the software continues to be available under the terms that the author desired.

Contributions should be made under the predominant license of that package. Entirely new packages should be made available under the Apache 2.0 license.

A license tells you what rights you have as a developer, as provided by the copyright holder. It is important that the contributor fully understands the licensing rights and agrees to them. Sometimes the copyright holder isn’t the contributor, such as when the contributor is doing work on behalf of a company.

Developer Certification of Origin (DCO)

To make a good faith effort to ensure licensing criteria are met, YAETS requires the Developer Certificate of Origin (DCO) process to be followed.

The DCO is an attestation attached to every contribution made by every developer. In the commit message of the contribution, (described more fully later in this document), the developer simply adds a Signed-off-by statement and thereby agrees to the DCO.

When a developer submits a patch, it is a commitment that the contributor has the right to submit the patch per the license. The DCO agreement is shown below and at http://developercertificate.org/.

Developer's Certificate of Origin 1.1

By making a contribution to this project, I certify that:

(a) The contribution was created in whole or in part by me and I
    have the right to submit it under the open source license
    indicated in the file; or

(b) The contribution is based upon previous work that, to the
    best of my knowledge, is covered under an appropriate open
    source license and I have the right under that license to
    submit that work with modifications, whether created in whole
    or in part by me, under the same open source license (unless
    I am permitted to submit under a different license), as
    Indicated in the file; or

(c) The contribution was provided directly to me by some other
    person who certified (a), (b) or (c) and I have not modified
    it.

(d) I understand and agree that this project and the contribution
    are public and that a record of the contribution (including
    all personal information I submit with it, including my
    sign-off) is maintained indefinitely and may be redistributed
    consistent with this project or the open source license(s)
    involved.

DCO Sign-Off Methods

The DCO requires that a sign-off message, in the following format, appears on each commit in the pull request:

Signed-off-by: Sofforus Jones <sjones@gmail.com>

The DCO text can either be manually added to your commit body, or you can add either -s or --signoff to your usual Git commit commands. If you forget to add the sign-off you can also amend a previous commit with the sign-off by running git commit --amend -s. If you’ve pushed your changes to GitHub already you’ll need to force push your branch after this with git push -f.

Note: The name and email address of the account you use to submit your PR must match the name and email address on the Signed-off-by line in your commit message.