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 publishing instrumentation using tracetools #324

Closed
wants to merge 1 commit into from
Closed

Add publishing instrumentation using tracetools #324

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 2 additions & 0 deletions rmw_cyclonedds_cpp/CMakeLists.txt
View file
Open in desktop
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
View file
Open in desktop
Original file line number Diff line number Diff line change
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
3 changes: 3 additions & 0 deletions rmw_cyclonedds_cpp/src/rmw_node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
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 @@ -1543,6 +1545,7 @@ extern "C" rmw_ret_t rmw_publish(
return RMW_RET_INVALID_ARGUMENT);
auto pub = static_cast<CddsPublisher *>(publisher->data);
assert(pub);
TRACEPOINT(rmw_publish, static_cast<const void *>(publisher), ros_message);
if (dds_write(pub->enth, ros_message) >= 0) {
return RMW_RET_OK;
} else {
Expand Down