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Add tracepoint for generic publisher/subscriber #2448

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merged 6 commits into from Apr 1, 2024
Merged

Add tracepoint for generic publisher/subscriber #2448

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19752e3
Add tracepoint for generic publisher/subscriber
h-suzuki-isp Jan 10, 2024
1b5c106
Fix: tracepoint args
h-suzuki-isp Mar 5, 2024
a8eb620
Fix: code style
h-suzuki-isp Mar 8, 2024
a028a54
Update rclcpp/include/rclcpp/generic_subscription.hpp
h-suzuki-isp Mar 14, 2024
eae8938
Add: tracepoint for take_serialized
h-suzuki-isp Mar 15, 2024
7050982
Fix: 'whitespace/line_length' errors
h-suzuki-isp Mar 27, 2024
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26 changes: 16 additions & 10 deletions rclcpp/include/rclcpp/generic_subscription.hpp
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Expand Up @@ -84,13 +84,22 @@ class GenericSubscription : public rclcpp::SubscriptionBase
options.event_callbacks,
options.use_default_callbacks,
DeliveredMessageKind::SERIALIZED_MESSAGE),
callback_([callback](
std::shared_ptr<const rclcpp::SerializedMessage> serialized_message,
const rclcpp::MessageInfo & message_info) mutable {
callback.dispatch(serialized_message, message_info);
}),
any_callback_(callback),
ts_lib_(ts_lib)
{}
{
TRACETOOLS_TRACEPOINT(
rclcpp_subscription_init,
static_cast<const void *>(get_subscription_handle().get()),
static_cast<const void *>(this));
TRACETOOLS_TRACEPOINT(
rclcpp_subscription_callback_added,
static_cast<const void *>(this),
static_cast<const void *>(&any_callback_));

#ifndef TRACETOOLS_DISABLED
any_callback_.register_callback_for_tracing();
#endif
}

RCLCPP_PUBLIC
virtual ~GenericSubscription() = default;
Expand Down Expand Up @@ -153,10 +162,7 @@ class GenericSubscription : public rclcpp::SubscriptionBase

private:
RCLCPP_DISABLE_COPY(GenericSubscription)

std::function<void(
std::shared_ptr<const rclcpp::SerializedMessage>,
const rclcpp::MessageInfo)> callback_;
AnySubscriptionCallback<rclcpp::SerializedMessage, std::allocator<void>> any_callback_;
// The type support library should stay loaded, so it is stored in the GenericSubscription
std::shared_ptr<rcpputils::SharedLibrary> ts_lib_;
};
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5 changes: 5 additions & 0 deletions rclcpp/src/rclcpp/generic_publisher.cpp
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Expand Up @@ -23,6 +23,10 @@ namespace rclcpp

void GenericPublisher::publish(const rclcpp::SerializedMessage & message)
{
TRACETOOLS_TRACEPOINT(
rclcpp_publish,
nullptr,
static_cast<const void *>(&message.get_rcl_serialized_message()));
auto return_code = rcl_publish_serialized_message(
get_publisher_handle().get(), &message.get_rcl_serialized_message(), NULL);
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Expand Down Expand Up @@ -68,6 +72,7 @@ void GenericPublisher::deserialize_message(

void GenericPublisher::publish_loaned_message(void * loaned_message)
{
TRACETOOLS_TRACEPOINT(rclcpp_publish, nullptr, static_cast<const void *>(loaned_message));
auto return_code = rcl_publish_loaned_message(
get_publisher_handle().get(), loaned_message, NULL);

Expand Down
2 changes: 1 addition & 1 deletion rclcpp/src/rclcpp/generic_subscription.cpp
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Expand Up @@ -51,7 +51,7 @@ GenericSubscription::handle_serialized_message(
const std::shared_ptr<rclcpp::SerializedMessage> & message,
const rclcpp::MessageInfo & message_info)
{
callback_(message, message_info);
any_callback_.dispatch(message, message_info);
}

void
Expand Down