Add callback start/end tracepoints

tracetools/include/tracetools/tracetools.h

@@ -38,6 +38,16 @@ void ros_trace_rcl_publisher_init(const char * node_name, const char * node_name
  */
 void ros_trace_rcl_subscription_init(const char * node_name, const char * topic_name);
 
+/**
+ * tp: rclcpp_callback_start
+ */
+void ros_trace_rclcpp_callback_start(const void * callback, const bool is_intra_process);
+
+/**
+ * tp: rclcpp_callback_end
+ */
+void ros_trace_rclcpp_callback_end(const void * callback);
+
 #ifdef __cplusplus
 }
 #endif

tracetools/lttng/tp_call.tp

@@ -49,3 +49,27 @@ TRACEPOINT_EVENT(
         ctf_string(topic_name, topic_name_arg)
     )
 )
+
+TRACEPOINT_EVENT(
+    ros2,
+    rclcpp_callback_start,
+    TP_ARGS(
+        const void*, callback_arg,
+        int, is_intra_process_arg
+    ),
+    TP_FIELDS(
+        ctf_integer_hex(const void*, callback, callback_arg)
+        ctf_integer(int, is_intra_process, is_intra_process_arg)
+    )
+)
+
+TRACEPOINT_EVENT(
+    ros2,
+    rclcpp_callback_end,
+    TP_ARGS(
+        const void*, callback_arg
+    ),
+    TP_FIELDS(
+        ctf_integer_hex(const void*, callback, callback_arg)
+    )
+)

tracetools/scripts/setup-lttng.sh

@@ -5,7 +5,9 @@ for event in \
   ros2:rcl_init \
   ros2:rcl_node_init \
   ros2:rcl_publisher_init \
-  ros2:rcl_subscription_init
+  ros2:rcl_subscription_init \
+  ros2:rclcpp_callback_start \
+  ros2:rclcpp_callback_end
 do
 	lttng enable-event -c ros2 -u $event
 done

tracetools/src/tracetools.c

@@ -41,3 +41,17 @@ void ros_trace_rcl_subscription_init(const char * node_name, const char * topic_
   tracepoint(ros2, rcl_subscription_init, node_name, topic_name);
 #endif
 }
+
+void ros_trace_rclcpp_callback_start(const void * callback, const bool is_intra_process)
+{
+#ifdef WITH_LTTNG
+  tracepoint(ros2, rclcpp_callback_start, callback, (is_intra_process ? 1 : 0));
+#endif
+}
+
+void ros_trace_rclcpp_callback_end(const void * callback)
+{
+#ifdef WITH_LTTNG
+  tracepoint(ros2, rclcpp_callback_end, callback);
+#endif
+}