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added tracepoints, removed cout

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This commit is contained in:
Niklas Halle 2025-06-09 15:21:21 +02:00
parent c44b7b8c3c
commit 5f73198adb
3 changed files with 5 additions and 4 deletions
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2
src/priority_executor/src/priority_executor.cpp
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@ -95,6 +95,7 @@ bool TimedExecutor::get_next_executable(
void void
TimedExecutor::wait_for_work(std::chrono::nanoseconds timeout) TimedExecutor::wait_for_work(std::chrono::nanoseconds timeout)
{ {
TRACEPOINT(rclcpp_executor_wait_for_work, timeout.count());
{ {
std::unique_lock<std::mutex> lock(memory_strategy_mutex_); std::unique_lock<std::mutex> lock(memory_strategy_mutex_);
@ -166,6 +167,7 @@ TimedExecutor::wait_for_work(std::chrono::nanoseconds timeout)
bool bool
TimedExecutor::get_next_ready_executable(rclcpp::AnyExecutable &any_executable) TimedExecutor::get_next_ready_executable(rclcpp::AnyExecutable &any_executable)
{ {
TRACEPOINT(rclcpp_executor_get_next_ready);
bool success = false; bool success = false;
if (use_priorities) if (use_priorities)
{ {

4
src/priority_executor/src/priority_memory_strategy.cpp
View file

@ -255,8 +255,8 @@ PriorityExecutable::PriorityExecutable(
ExecutableType t, ExecutableType t,
ExecutableScheduleType sched_type) { ExecutableScheduleType sched_type) {
handle = std::move(h); handle = std::move(h);
std::cout << "priority_executable constructor called" << std::endl; //std::cout << "priority_executable constructor called" << std::endl;
std::cout << "type: " << t << std::endl; //std::cout << "type: " << t << std::endl;
type = t; type = t;
if (sched_type == ExecutableScheduleType::CHAIN_INDEPENDENT_PRIORITY if (sched_type == ExecutableScheduleType::CHAIN_INDEPENDENT_PRIORITY

3
src/priority_executor/src/usage_example.cpp
View file

@ -76,8 +76,7 @@ int main(int argc, char* argv[]) {
strategy->set_executable_deadline(talker->timer_->get_timer_handle(), 1000, strategy->set_executable_deadline(talker->timer_->get_timer_handle(), 1000,
priority_executor::ExecutableType::TIMER, 0); priority_executor::ExecutableType::TIMER, 0);
// you _must_ set the timer_handle for each chain // you _must_ set the timer_handle for each chain
strategy->get_priority_settings(talker->timer_->get_timer_handle()) strategy->get_priority_settings(talker->timer_->get_timer_handle())->timer_handle = talker->timer_;
->timer_handle = talker->timer_;
// you _must_ mark the first executable in the chain // you _must_ mark the first executable in the chain
strategy->set_first_in_chain(talker->timer_->get_timer_handle()); strategy->set_first_in_chain(talker->timer_->get_timer_handle());
// set the same period and chain_id for each callback in the chain // set the same period and chain_id for each callback in the chain