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Add pub/sub init, publish and take instrumentation using tracetools #329

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Aug 12, 2021
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Add pub/sub init, publish and take instrumentation using tracetools #329

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ff34c7c
Add pub/sub init, publish and take instrumentation using tracetools
christophebedard Apr 25, 2021
3978e6d
Remove redundant publisher field in rmw_publish tracepoint
christophebedard Aug 2, 2021
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2 changes: 2 additions & 0 deletions rmw_cyclonedds_cpp/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,7 @@ find_package(ament_cmake_ros REQUIRED)

find_package(rcutils REQUIRED)
find_package(rcpputils REQUIRED)
find_package(tracetools REQUIRED)

#find_package(cyclonedds_cmake_module REQUIRED)
find_package(CycloneDDS QUIET CONFIG)
Expand Down Expand Up @@ -77,6 +78,7 @@ ament_target_dependencies(rmw_cyclonedds_cpp
"rmw"
"rmw_dds_common"
"rosidl_runtime_c"
"tracetools"
)

configure_rmw_library(rmw_cyclonedds_cpp)
Expand Down
1 change: 1 addition & 0 deletions rmw_cyclonedds_cpp/package.xml
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Expand Up @@ -18,6 +18,7 @@
<depend>rosidl_runtime_c</depend>
<depend>rosidl_typesupport_introspection_c</depend>
<depend>rosidl_typesupport_introspection_cpp</depend>
<depend>tracetools</depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
Expand Down
14 changes: 13 additions & 1 deletion rmw_cyclonedds_cpp/src/rmw_node.cpp
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Expand Up @@ -75,6 +75,8 @@

#include "rosidl_typesupport_cpp/message_type_support.hpp"

#include "tracetools/tracetools.h"

#include "namespace_prefix.hpp"

#include "dds/dds.h"
Expand Down Expand Up @@ -1547,6 +1549,7 @@ extern "C" rmw_ret_t rmw_publish(
return RMW_RET_INVALID_ARGUMENT);
auto pub = static_cast<CddsPublisher *>(publisher->data);
assert(pub);
TRACEPOINT(rmw_publish, ros_message);
if (dds_write(pub->enth, ros_message) >= 0) {
return RMW_RET_OK;
} else {
Expand Down Expand Up @@ -2190,6 +2193,7 @@ extern "C" rmw_publisher_t * rmw_create_publisher(
}

cleanup_publisher.cancel();
TRACEPOINT(rmw_publisher_init, static_cast<const void *>(pub), cddspub->gid.data);
return pub;
}

Expand Down Expand Up @@ -2695,6 +2699,7 @@ extern "C" rmw_subscription_t * rmw_create_subscription(
}

cleanup_subscription.cancel();
TRACEPOINT(rmw_subscription_init, static_cast<const void *>(sub), cddssub->gid.data);
return sub;
}

Expand Down Expand Up @@ -2850,10 +2855,17 @@ static rmw_ret_t rmw_take_int(
fprintf(stderr, "** sample in history for %.fms\n", static_cast<double>(dt) / 1e6);
}
#endif
return RMW_RET_OK;
goto take_done;
}
}
*taken = false;
take_done:
TRACEPOINT(
rmw_take,
static_cast<const void *>(subscription),
static_cast<const void *>(ros_message),
(message_info ? message_info->source_timestamp : 0LL),
*taken);
return RMW_RET_OK;
}

Expand Down