Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Add tracepoint for publish/subscribe serialized message #485

Merged
merged 9 commits into from Apr 5, 2024
Merged

Add tracepoint for publish/subscribe serialized message #485

Changes from all commits
Commits
Show all changes
9 commits
Select commit Hold shift + click to select a range
af0a83a
Add: tracepoint for generic_publisher
h-suzuki-isp Jan 17, 2024
9b804c2
Fix: correspond to PR454
h-suzuki-isp Jan 26, 2024
65ce70d
Fix: rmw_publish and rmw_take output press the same timestamp
h-suzuki-isp Mar 5, 2024
79d1e62
Fix: code style
h-suzuki-isp Mar 8, 2024
75f4f2d
Fix: tracepoint is output just before RMW_RET_OK
h-suzuki-isp Mar 8, 2024
7b71aef
Fix: reset sourcestamp in rmw_publish_serialized_message
h-suzuki-isp Mar 12, 2024
2f911e7
Fix: add statusinfo
h-suzuki-isp Mar 12, 2024
4569662
Update rmw_cyclonedds_cpp/src/rmw_node.cpp
h-suzuki-isp Mar 14, 2024
2b33c0b
Fix: unnecesary whiteapace change
h-suzuki-isp Apr 5, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Jump to
Jump to file
Failed to load files.
Diff view
Diff view
30 changes: 29 additions & 1 deletion rmw_cyclonedds_cpp/src/rmw_node.cpp
View file
Open in desktop
Expand Up @@ -2024,9 +2024,13 @@ extern "C" rmw_ret_t rmw_publish_serialized_message(
serialized_message, "serialized message handle is null",
return RMW_RET_INVALID_ARGUMENT);
auto pub = static_cast<CddsPublisher *>(publisher->data);
const dds_time_t tstamp = dds_time();
TRACETOOLS_TRACEPOINT(rmw_publish, (const void *)publisher, serialized_message, tstamp);

struct ddsi_serdata * d = serdata_rmw_from_serialized_message(
pub->sertype, serialized_message->buffer, serialized_message->buffer_length);
d->timestamp.v = tstamp;
d->statusinfo = 0;

#ifdef DDS_HAS_SHM
// publishing a serialized message when SHM is available
Expand All @@ -2040,7 +2044,7 @@ extern "C" rmw_ret_t rmw_publish_serialized_message(
}
#endif

const bool ok = (dds_writecdr(pub->enth, d) >= 0);
const bool ok = (dds_forwardcdr(pub->enth, d) >= 0);
mjcarroll marked this conversation as resolved.
Show resolved Hide resolved
return ok ? RMW_RET_OK : RMW_RET_ERROR;
}

Expand Down Expand Up @@ -3522,6 +3526,12 @@ static rmw_ret_t rmw_take_ser_int(
serialized_message->buffer_length = size;
ddsi_serdata_unref(d);
*taken = true;
TRACETOOLS_TRACEPOINT(
rmw_take,
static_cast<const void *>(subscription),
static_cast<const void *>(serialized_message),
(message_info ? message_info->source_timestamp : 0LL),
*taken);
return RMW_RET_OK;
} else if (iox_header->shm_data_state == IOX_CHUNK_CONTAINS_RAW_DATA) {
if (rmw_serialize(d->iox_chunk, &sub->type_supports, serialized_message) != RMW_RET_OK) {
Expand All @@ -3532,6 +3542,12 @@ static rmw_ret_t rmw_take_ser_int(
}
ddsi_serdata_unref(d);
*taken = true;
TRACETOOLS_TRACEPOINT(
rmw_take,
static_cast<const void *>(subscription),
static_cast<const void *>(serialized_message),
(message_info ? message_info->source_timestamp : 0LL),
*taken);
return RMW_RET_OK;
} else {
RMW_SET_ERROR_MSG("The recieved sample over SHM is not initialized");
Expand All @@ -3553,12 +3569,24 @@ static rmw_ret_t rmw_take_ser_int(
serialized_message->buffer_length = size;
ddsi_serdata_unref(d);
*taken = true;
TRACETOOLS_TRACEPOINT(
rmw_take,
static_cast<const void *>(subscription),
static_cast<const void *>(serialized_message),
(message_info ? message_info->source_timestamp : 0LL),
*taken);
return RMW_RET_OK;
}
}
ddsi_serdata_unref(d);
}
*taken = false;
TRACETOOLS_TRACEPOINT(
rmw_take,
static_cast<const void *>(subscription),
static_cast<const void *>(serialized_message),
0LL,
*taken);
return RMW_RET_OK;
}

Expand Down