added tracepoints, removed cout

src/priority_executor/CMakeLists.txt

@@ -13,6 +13,7 @@ endif()
 
 # Find dependencies
 find_package(ament_cmake REQUIRED)
+find_package(tracetools REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rcl REQUIRED)
 find_package(rmw REQUIRED)
@@ -35,6 +36,7 @@ target_include_directories(priority_executor PUBLIC
   $<INSTALL_INTERFACE:include>
 )
 ament_target_dependencies(priority_executor
+  tracetools
   rmw
   rclcpp
   rcl
@@ -54,6 +56,7 @@ target_link_libraries(usage_example
   priority_executor
 )
 ament_target_dependencies(usage_example
+  tracetools
   rclcpp
   std_msgs
   std_srvs

src/priority_executor/package.xml

@@ -11,6 +11,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>tracetools</depend>
   <depend>rclcpp</depend>
   <depend>rcl</depend>
   <depend>rmw</depend>

src/priority_executor/src/priority_executor.cpp

@@ -95,6 +95,7 @@ bool TimedExecutor::get_next_executable(
 void
 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_);
 
@@ -166,6 +167,7 @@ TimedExecutor::wait_for_work(std::chrono::nanoseconds timeout)
 bool
 TimedExecutor::get_next_ready_executable(rclcpp::AnyExecutable &any_executable)
 {
+    TRACEPOINT(rclcpp_executor_get_next_ready);
     bool success = false;
     if (use_priorities)
     {

src/priority_executor/src/priority_memory_strategy.cpp

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

src/priority_executor/src/usage_example.cpp

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