ros2_tracing: Multipurpose Low-Overhead Framework for Real-Time Tracing of ROS 2

Testing and debugging have become major obstacles for robot software development, because of high system complexity and dynamic environments. Standard, middleware-based data recording does not provide sufficient information on internal computation and performance bottlenecks. Other existing methods also target very specific problems and thus cannot be used for multipurpose analysis. Moreover, they are not suitable for real-time applications. In this paper, we present ros2_tracing, a collection of flexible tracing tools and multipurpose instrumentation for ROS 2. It allows collecting runtime execution information on real-time distributed systems, using the low-overhead LTTng tracer. Tools also integrate tracing into the invaluable ROS 2 orchestration system and other usability tools. A message latency experiment shows that the end-to-end message latency overhead, when enabling all ROS 2 instrumentation, is on average 0.0033 ms, which we believe is suitable for production real-time systems. ROS 2 execution information obtained using ros2_tracing can be combined with trace data from the operating system, enabling a wider range of precise analyses, that help understand an application execution, to find the cause of performance bottlenecks and other issues. The source code is available at: https://github.com/ros2/ros2_tracing.Comment: 8 pages, 8 figures, 3 table

SAMP, the Simple Application Messaging Protocol: Letting applications talk to each other

SAMP, the Simple Application Messaging Protocol, is a hub-based communication standard for the exchange of data and control between participating client applications. It has been developed within the context of the Virtual Observatory with the aim of enabling specialised data analysis tools to cooperate as a loosely integrated suite, and is now in use by many and varied desktop and web-based applications dealing with astronomical data. This paper reviews the requirements and design principles that led to SAMP's specification, provides a high-level description of the protocol, and discusses some of its common and possible future usage patterns, with particular attention to those factors that have aided its success in practice.Comment: 12 pages, 3 figures. Accepted for Virtual Observatory special issue of Astronomy and Computin

Bridging the Gap between Machine and Language using First-Class Building Blocks

High-performance virtual machines (VMs) are increasingly reused for programming languages for which they were not initially designed. Unfortunately, VMs are usually tailored to specific languages, offer only a very limited interface to running applications, and are closed to extensions. As a consequence, extensions required to support new languages often entail the construction of custom VMs, thus impacting reuse, compatibility and performance. Short of building a custom VM, the language designer has to choose between the expressiveness and the performance of the language. In this dissertation we argue that the best way to open the VM is to eliminate it. We present Pinocchio, a natively compiled Smalltalk, in which we identify and reify three basic building blocks for object-oriented languages. First we define a protocol for message passing similar to calling conventions, independent of the actual message lookup mechanism. The lookup is provided by a self-supporting runtime library written in Smalltalk and compiled to native code. Since it unifies the meta- and base-level we obtain a metaobject protocol (MOP). Then we decouple the language-level manipulation of state from the machine-level implementation by extending the structural reflective model of the language with object layouts, layout scopes and slots. Finally we reify behavior using AST nodes and first-class interpreters separate from the low-level language implementation. We describe the implementations of all three first-class building blocks. For each of the blocks we provide a series of examples illustrating how they enable typical extensions to the runtime, and we provide benchmarks validating the practicality of the approaches

Out-Of-Place debugging: a debugging architecture to reduce debugging interference

Context. Recent studies show that developers spend most of their programming time testing, verifying and debugging software. As applications become more and more complex, developers demand more advanced debugging support to ease the software development process. Inquiry. Since the 70's many debugging solutions were introduced. Amongst them, online debuggers provide a good insight on the conditions that led to a bug, allowing inspection and interaction with the variables of the program. However, most of the online debugging solutions introduce \textit{debugging interference} to the execution of the program, i.e. pauses, latency, and evaluation of code containing side-effects. Approach. This paper investigates a novel debugging technique called \outofplace debugging. The goal is to minimize the debugging interference characteristic of online debugging while allowing online remote capabilities. An \outofplace debugger transfers the program execution and application state from the debugged application to the debugger application, both running in different processes. Knowledge. On the one hand, \outofplace debugging allows developers to debug applications remotely, overcoming the need of physical access to the machine where the debugged application is running. On the other hand, debugging happens locally on the remote machine avoiding latency. That makes it suitable to be deployed on a distributed system and handle the debugging of several processes running in parallel. Grounding. We implemented a concrete out-of-place debugger for the Pharo Smalltalk programming language. We show that our approach is practical by performing several benchmarks, comparing our approach with a classic remote online debugger. We show that our prototype debugger outperforms by a 1000 times a traditional remote debugger in several scenarios. Moreover, we show that the presence of our debugger does not impact the overall performance of an application. Importance. This work combines remote debugging with the debugging experience of a local online debugger. Out-of-place debugging is the first online debugging technique that can minimize debugging interference while debugging a remote application. Yet, it still keeps the benefits of online debugging ( e.g. step-by-step execution). This makes the technique suitable for modern applications which are increasingly parallel, distributed and reactive to streams of data from various sources like sensors, UI, network, etc

MELT - a Translated Domain Specific Language Embedded in the GCC Compiler

The GCC free compiler is a very large software, compiling source in several languages for many targets on various systems. It can be extended by plugins, which may take advantage of its power to provide extra specific functionality (warnings, optimizations, source refactoring or navigation) by processing various GCC internal representations (Gimple, Tree, ...). Writing plugins in C is a complex and time-consuming task, but customizing GCC by using an existing scripting language inside is impractical. We describe MELT, a specific Lisp-like DSL which fits well into existing GCC technology and offers high-level features (functional, object or reflexive programming, pattern matching). MELT is translated to C fitted for GCC internals and provides various features to facilitate this. This work shows that even huge, legacy, software can be a posteriori extended by specifically tailored and translated high-level DSLs.Comment: In Proceedings DSL 2011, arXiv:1109.032

RELEASE: A High-level Paradigm for Reliable Large-scale Server Software

Erlang is a functional language with a much-emulated model for building reliable distributed systems. This paper outlines the RELEASE project, and describes the progress in the first six months. The project aim is to scale the Erlang’s radical concurrency-oriented programming paradigm to build reliable general-purpose software, such as server-based systems, on massively parallel machines. Currently Erlang has inherently scalable computation and reliability models, but in practice scalability is constrained by aspects of the language and virtual machine. We are working at three levels to address these challenges: evolving the Erlang virtual machine so that it can work effectively on large scale multicore systems; evolving the language to Scalable Distributed (SD) Erlang; developing a scalable Erlang infrastructure to integrate multiple, heterogeneous clusters. We are also developing state of the art tools that allow programmers to understand the behaviour of massively parallel SD Erlang programs. We will demonstrate the effectiveness of the RELEASE approach using demonstrators and two large case studies on a Blue Gene

State of the Art in Parallel Computing with R

R is a mature open-source programming language for statistical computing and graphics. Many areas of statistical research are experiencing rapid growth in the size of data sets. Methodological advances drive increased use of simulations. A common approach is to use parallel computing. This paper presents an overview of techniques for parallel computing with R on computer clusters, on multi-core systems, and in grid computing. It reviews sixteen different packages, comparing them on their state of development, the parallel technology used, as well as on usability, acceptance, and performance. Two packages (snow, Rmpi) stand out as particularly suited to general use on computer clusters. Packages for grid computing are still in development, with only one package currently available to the end user. For multi-core systems five different packages exist, but a number of issues pose challenges to early adopters. The paper concludes with ideas for further developments in high performance computing with R. Example code is available in the appendix.

Bridging the Gap between Machine and Language using First-Class Building Blocks

High-performance virtual machines (VMs) are increasingly reused for programming languages for which they were not initially designed. Unfortunately, VMs are usually tailored to specific languages, offer only a very limited interface to running applications, and are closed to extensions. As a consequence, extensions required to support new languages often entail the construction of custom VMs, thus impacting reuse, compatibility and performance. Short of building a custom VM, the language designer has to choose between the expressiveness and the performance of the language. In this dissertation we argue that the best way to open the VM is to eliminate it. We present Pinocchio, a natively compiled Smalltalk, in which we identify and reify three basic building blocks for object-oriented languages. First we define a protocol for message passing similar to calling conventions, independent of the actual message lookup mechanism. The lookup is provided by a self-supporting runtime library written in Smalltalk and compiled to native code. Since it unifies the meta- and base-level we obtain a metaobject protocol (MOP). Then we decouple the language-level manipulation of state from the machine-level implementation by extending the structural reflective model of the language with object layouts, layout scopes and slots. Finally we reify behavior using AST nodes and first-class interpreters separate from the low-level language implementation. We describe the implementations of all three first-class building blocks. For each of the blocks we provide a series of examples illustrating how they enable typical extensions to the runtime, and we provide benchmarks validating the practicality of the approaches