add tracepoints with LTTng

rmw_connextdds_common/CMakeLists.txt

@@ -18,6 +18,21 @@ project(rmw_connextdds_common)
 
 find_package(ament_cmake REQUIRED)
 
+option(CONNEXT_ENABLE_TRACING "Enable building with static tracepoints with LTTng." OFF)
+if(CONNEXT_ENABLE_TRACING AND CMAKE_SYSTEM_NAME MATCHES Linux)
+  find_package(PkgConfig)
+  if(PkgConfig_FOUND)
+    pkg_check_modules(LTTNG lttng-ust)
+    if(LTTNG_FOUND)
+      message(STATUS "Building with LTTng instrumentation support")
+      set(DDS_HAS_LTTNG_TRACING "1")
+    else()
+      message(FATAL_ERROR "CONNEXT_ENABLE_TRACING requires lttng-ust")
+    endif()
+  endif()
+endif()
+
+
 ################################################################################
 # rtirmw_add_library(
 #     NAME      <library name>
@@ -59,6 +74,10 @@ function(rtirmw_add_library)
         ${_rti_build_LIBRARIES}
         fastcdr)
 
+    if (DDS_HAS_LTTNG_TRACING)
+        target_link_libraries(${_rti_build_NAME} ${LTTNG_LIBRARIES})
+     endif()
+
     ament_target_dependencies(${_rti_build_NAME}
         ${_rti_build_DEPS})
 
@@ -87,7 +106,11 @@ function(rtirmw_add_library)
             CACHE INTERNAL "")
     endif()
 
-    target_compile_definitions(${_rti_build_NAME} PRIVATE ${private_defines})
+    target_compile_definitions(${_rti_build_NAME}
+	    PRIVATE
+	        ${private_defines} 
+	        DDS_HAS_LTTNG_TRACING=${DDS_HAS_LTTNG_TRACING}
+    )
 
     # Causes the visibility macros to use dllexport rather than dllimport,
     # which is appropriate when building the dll but not consuming it.
@@ -111,6 +134,7 @@ set(RMW_CONNEXT_DEPS
     rcpputils
     rmw
     rmw_dds_common
+    tracetools
     fastcdr
     rosidl_runtime_c
     rosidl_runtime_cpp
@@ -127,6 +151,7 @@ endforeach()
 ################################################################################
 # Common Source Configuration
 ################################################################################
+
 set(RMW_CONNEXT_DIR     ${CMAKE_CURRENT_SOURCE_DIR})
 
 set(RMW_CONNEXT_COMMON_SOURCE_CPP
@@ -148,6 +173,7 @@ set(RMW_CONNEXT_COMMON_SOURCE_CPP
     src/common/rmw_subscription.cpp
     src/common/rmw_waitset.cpp
     src/common/rmw_type_support.cpp
+    $<$<BOOL:${CONNEXT_ENABLE_TRACING}>:src/common/tracing_lttng.c>
     src/common/demangle.cpp)
 
 set(RMW_CONNEXT_COMMON_SOURCE_HPP
@@ -171,6 +197,7 @@ set(RMW_CONNEXT_COMMON_SOURCE
     ${RMW_CONNEXT_COMMON_SOURCE_CPP}
     ${RMW_CONNEXT_COMMON_SOURCE_HPP})
 
+
 ################################################################################
 # Check if additional Connext components are needed (e.g. security)
 ################################################################################

rmw_connextdds_common/include/rmw_connextdds/tracing_lttng.h

@@ -0,0 +1,115 @@
+/*
+ * Copyright(c) 2021 Christophe Bedard
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License v. 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
+ * v. 1.0 which is available at
+ * http://www.eclipse.org/org/documents/edl-v10.php.
+ *
+ * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
+ */
+
+// Provide fake header guard for cpplint
+#undef _DDS_LTTNG_H_
+#ifndef _DDS_LTTNG_H_
+#define _DDS_LTTNG_H_
+
+#ifndef DDS_HAS_LTTNG_TRACING
+
+#define TRACEPOINT_DDS(event_name, ...) ((void) (0))
+
+#else  // DDS_HAS_LTTNG_TRACING
+
+#undef TRACEPOINT_PROVIDER
+#define TRACEPOINT_PROVIDER dds
+
+#define TRACEPOINT_DDS(event_name, ...) \
+  tracepoint(TRACEPOINT_PROVIDER, event_name, __VA_ARGS__)
+
+#undef TRACEPOINT_INCLUDE
+#define TRACEPOINT_INCLUDE "rmw_connextdds/tracing_lttng.h"
+
+#if !defined(__DDS_LTTNG_H_) || defined(TRACEPOINT_HEADER_MULTI_READ)
+#define __DDS_LTTNG_H_
+
+#include <lttng/tracepoint.h>
+
+#ifndef LTTNG_UST_HAVE_SDT_INTEGRATION
+#  ifdef _MSC_VER
+#    pragma message ("lttng-ust has not been configured & built with SDT integration (--with-sdt)")
+#  else
+#    warning lttng-ust has not been configured & built with SDT integration (--with-sdt)
+#  endif
+#endif
+
+#include <stdint.h>
+#include <stdbool.h>
+
+#define DDS_GID_STORAGE_SIZE 16u
+
+TRACEPOINT_EVENT(
+  TRACEPOINT_PROVIDER,
+  create_writer,
+  TP_ARGS(
+    const void *, writer_arg,
+    const char *, topic_name_arg,
+    const uint8_t *, gid_arg
+  ),
+  TP_FIELDS(
+    ctf_integer_hex(const void *, writer, writer_arg)
+    ctf_string(topic_name, topic_name_arg)
+    ctf_array(uint8_t, gid, gid_arg, DDS_GID_STORAGE_SIZE)
+  )
+)
+
+TRACEPOINT_EVENT(
+  TRACEPOINT_PROVIDER,
+  create_reader,
+  TP_ARGS(
+    const void *, reader_arg,
+    const char *, topic_name_arg,
+    const uint8_t *, gid_arg
+  ),
+  TP_FIELDS(
+    ctf_integer_hex(const void *, reader, reader_arg)
+    ctf_string(topic_name, topic_name_arg)
+    ctf_array(uint8_t, gid, gid_arg, DDS_GID_STORAGE_SIZE)
+  )
+)
+
+TRACEPOINT_EVENT(
+  TRACEPOINT_PROVIDER,
+  write,
+  TP_ARGS(
+    const void *, writer_arg,
+    const void *, data_arg,
+    int64_t, timestamp_arg
+  ),
+  TP_FIELDS(
+    ctf_integer_hex(const void *, writer, writer_arg)
+    ctf_integer_hex(const void *, data, data_arg)
+    ctf_integer(int64_t, timestamp, timestamp_arg)
+  )
+)
+
+TRACEPOINT_EVENT(
+  TRACEPOINT_PROVIDER,
+  read,
+  TP_ARGS(
+    const void *, reader_arg,
+    const void *, buffer_arg
+  ),
+  TP_FIELDS(
+    ctf_integer_hex(const void *, reader, reader_arg)
+    ctf_integer_hex(const void *, buffer, buffer_arg)
+  )
+)
+
+#endif  // __DDS_LTTNG_H_
+
+#include <lttng/tracepoint-event.h>
+
+#endif  // DDS_HAS_LTTNG_TRACING
+
+#endif  // _DDS_LTTNG_H_

rmw_connextdds_common/package.xml

@@ -22,6 +22,7 @@
   <depend>rosidl_typesupport_fastrtps_cpp</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>

rmw_connextdds_common/src/common/rmw_impl.cpp

@@ -19,10 +19,14 @@
 #include <vector>
 #include <stdexcept>
 
+#include "tracetools/tracetools.h"
+
 #include "rmw_dds_common/time_utils.hpp"
 
 #include "rmw_connextdds/graph_cache.hpp"
 
+#include "rmw_connextdds/tracing_lttng.h"
+
 #define ROS_SERVICE_REQUESTER_PREFIX_STR "rq"
 #define ROS_SERVICE_RESPONSE_PREFIX_STR  "rr"
 
@@ -811,6 +815,8 @@ RMW_Connext_Publisher::create(
   scope_exit_topic_delete.cancel();
   scope_exit_dds_writer_delete.cancel();
 
+  TRACEPOINT_DDS(create_writer, dds_writer, topic_name, rmw_pub_impl->gid()->data);
+
   return rmw_pub_impl;
 }
 
@@ -1090,6 +1096,10 @@ rmw_connextdds_create_publisher(
     }
   }
 
+ TRACEPOINT(
+    rmw_publisher_init,
+    static_cast<const void *>(rmw_publisher),
+    rmw_pub_impl->gid()->data);
 
   scope_exit_rmw_writer_impl_delete.cancel();
   scope_exit_rmw_writer_delete.cancel();
@@ -1375,10 +1385,13 @@ RMW_Connext_Subscriber::create(
     RMW_CONNEXT_LOG_ERROR_SET("failed to allocate RMW subscriber")
     return nullptr;
   }
+
   scope_exit_dds_reader_delete.cancel();
   scope_exit_topic_delete.cancel();
   scope_exit_type_unregister.cancel();
 
+  TRACEPOINT_DDS(create_reader, dds_reader, topic_name, rmw_sub_impl->gid()->data);
+
   return rmw_sub_impl;
 }
 
@@ -1776,6 +1789,8 @@ RMW_Connext_Subscriber::take_next(
           rmw_connextdds_message_info_from_dds(message_info, info);
         }
 
+        TRACEPOINT_DDS(read, this->reader(), ros_message);
+
         *taken += 1;
         continue;
       }
@@ -1906,6 +1921,11 @@ rmw_connextdds_create_subscriber(
     }
   }
 
+  TRACEPOINT(
+    rmw_subscription_init,
+    static_cast<const void *>(rmw_subscriber),
+    rmw_sub_impl->gid()->data);
+
 #if RMW_CONNEXT_DEBUG && RMW_CONNEXT_DDS_API == RMW_CONNEXT_DDS_API_PRO
   scope_exit_enable_participant_on_error.cancel();
 #endif  // RMW_CONNEXT_DEBUG && RMW_CONNEXT_DDS_API == RMW_CONNEXT_DDS_API_PRO

rmw_connextdds_common/src/common/rmw_publication.cpp

@@ -17,6 +17,8 @@
 
 #include "rmw/validate_full_topic_name.h"
 
+#include "tracetools/tracetools.h"
+
 /******************************************************************************
  * Publication functions
  ******************************************************************************/
@@ -45,6 +47,8 @@ rmw_api_connextdds_publish(
   auto pub_impl = static_cast<RMW_Connext_Publisher *>(publisher->data);
   RMW_CHECK_ARGUMENT_FOR_NULL(pub_impl, RMW_RET_INVALID_ARGUMENT);
 
+  TRACEPOINT(rmw_publish, ros_message);
+
   return pub_impl->write(ros_message, false /* serialized */);
 }
 

rmw_connextdds_common/src/common/rmw_subscription.cpp

@@ -17,6 +17,8 @@
 
 #include "rmw/validate_full_topic_name.h"
 
+#include "tracetools/tracetools.h"
+
 /******************************************************************************
  * Subscription functions
  ******************************************************************************/
@@ -272,6 +274,12 @@ rmw_api_connextdds_take(
 
   rmw_ret_t rc = sub_impl->take_message(ros_message, nullptr, taken);
 
+  TRACEPOINT(
+    rmw_take,
+    static_cast<const void *>(subscription),
+    static_cast<const void *>(ros_message),
+    0LL,
+    *taken);
   return rc;
 }
 
@@ -301,6 +309,13 @@ rmw_api_connextdds_take_with_info(
 
   rmw_ret_t rc = sub_impl->take_message(ros_message, message_info, taken);
 
+  TRACEPOINT(
+    rmw_take,
+    static_cast<const void *>(subscription),
+    static_cast<const void *>(ros_message),
+    (message_info ? message_info->source_timestamp : 0LL),
+    *taken);
+
   return rc;
 }
 

rmw_connextdds_common/src/common/tracing_lttng.c

@@ -0,0 +1,16 @@
+/*
+ * Copyright(c) 2021 Christophe Bedard
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License v. 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
+ * v. 1.0 which is available at
+ * http://www.eclipse.org/org/documents/edl-v10.php.
+ *
+ * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
+ */
+
+#define TRACEPOINT_CREATE_PROBES
+
+#define TRACEPOINT_DEFINE
+#include "rmw_connextdds/tracing_lttng.h"