Put subscription callback tracepoints in intraprocess subscription too (#918)

* Put subscription callback tracepoints in intraprocess subscription too

Signed-off-by: Christophe Bedard <christophe.bedard@apex.ai>

* Add missing tracetools header

Signed-off-by: Christophe Bedard <christophe.bedard@apex.ai>

* Move Subscription tracepoints back to outside of intra-process condition

Signed-off-by: Christophe Bedard <christophe.bedard@apex.ai>

* Revert API change by adding new tracepoint as an intermediate

Signed-off-by: Christophe Bedard <christophe.bedard@apex.ai>

rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp

@@ -30,6 +30,7 @@
 #include "rclcpp/experimental/subscription_intra_process_base.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/waitable.hpp"
+#include "tracetools/tracetools.h"
 
 namespace rclcpp
 {
@@ -88,6 +89,15 @@ public:
     if (RCL_RET_OK != ret) {
       throw std::runtime_error("SubscriptionIntraProcess init error initializing guard condition");
     }
+
+    TRACEPOINT(
+      rclcpp_subscription_callback_added,
+      (const void *)this,
+      (const void *)&any_callback_);
+    // The callback object gets copied, so if registration is done too early/before this point
+    // (e.g. in `AnySubscriptionCallback::set()`), its address won't match any address used later
+    // in subsequent tracepoints.
+    any_callback_.register_callback_for_tracing();
   }
 
   bool

rclcpp/include/rclcpp/subscription.hpp

@@ -152,6 +152,10 @@ public:
         qos.get_rmw_qos_profile(),
         resolve_intra_process_buffer_type(options.intra_process_buffer_type, callback)
         );
+      TRACEPOINT(
+        rclcpp_subscription_init,
+        (const void *)get_subscription_handle().get(),
+        (const void *)subscription_intra_process.get());
 
       // Add it to the intra process manager.
       using rclcpp::experimental::IntraProcessManager;
@@ -161,8 +165,12 @@ public:
     }
 
     TRACEPOINT(
-      rclcpp_subscription_callback_added,
+      rclcpp_subscription_init,
       (const void *)get_subscription_handle().get(),
+      (const void *)this);
+    TRACEPOINT(
+      rclcpp_subscription_callback_added,
+      (const void *)this,
       (const void *)&any_callback_);
     // The callback object gets copied, so if registration is done too early/before this point
     // (e.g. in `AnySubscriptionCallback::set()`), its address won't match any address used later