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

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* 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>
This commit is contained in:
Christophe Bedard 2019-11-18 16:53:02 -08:00 • committed by William Woodall
parent 5254e6abc3
commit 1f79bdb3f7
2 changed files with 19 additions and 1 deletions
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10
rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp
View file

@ -30,6 +30,7 @@
#include "rclcpp/experimental/subscription_intra_process_base.hpp" #include "rclcpp/experimental/subscription_intra_process_base.hpp"
#include "rclcpp/type_support_decl.hpp" #include "rclcpp/type_support_decl.hpp"
#include "rclcpp/waitable.hpp" #include "rclcpp/waitable.hpp"
#include "tracetools/tracetools.h"
namespace rclcpp namespace rclcpp
{ {
@ -88,6 +89,15 @@ public:
if (RCL_RET_OK != ret) { if (RCL_RET_OK != ret) {
throw std::runtime_error("SubscriptionIntraProcess init error initializing guard condition"); 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 bool

10
rclcpp/include/rclcpp/subscription.hpp
View file

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