WIP: backport message flow tracing to foxy
This commit is contained in:
parent
449a0123fd
commit
e8637c9043
4 changed files with 1128 additions and 1 deletions
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@ -26,6 +26,9 @@
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#if !defined(_TRACETOOLS__TP_CALL_H_) || defined(TRACEPOINT_HEADER_MULTI_READ)
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#define _TRACETOOLS__TP_CALL_H_
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/// See RMW_GID_STORAGE_SIZE in rmw.
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#define TRACETOOLS_GID_STORAGE_SIZE 16u
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#include <lttng/tracepoint.h>
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#include <stdint.h>
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@ -79,6 +82,379 @@ TRACEPOINT_EVENT(
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)
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)
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TRACEPOINT_EVENT(
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TRACEPOINT_PROVIDER,
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rcl_publish,
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TP_ARGS(
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const void *, publisher_handle_arg,
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const void *, message_arg
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),
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TP_FIELDS(
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ctf_integer_hex(const void *, publisher_handle, publisher_handle_arg)
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ctf_integer_hex(const void *, message, message_arg)
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)
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)
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TRACEPOINT_EVENT(
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TRACEPOINT_PROVIDER,
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rclcpp_publish,
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TP_ARGS(
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const void *, publisher_handle_arg,
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const void *, message_arg
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),
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TP_FIELDS(
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ctf_integer_hex(const void *, publisher_handle, publisher_handle_arg)
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ctf_integer_hex(const void *, message, message_arg)
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)
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)
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TRACEPOINT_EVENT(
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TRACEPOINT_PROVIDER,
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rclcpp_executor_execute,
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TP_ARGS(
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const void *, handle_arg
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),
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TP_FIELDS(
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ctf_integer_hex(const void *, handle, handle_arg)
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)
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)
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TRACEPOINT_EVENT(
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TRACEPOINT_PROVIDER,
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rclcpp_executor_wait_for_work,
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TP_ARGS(
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const int64_t, timeout_arg
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),
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TP_FIELDS(
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ctf_integer(int64_t, timeout, timeout_arg)
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)
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)
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TRACEPOINT_EVENT(
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TRACEPOINT_PROVIDER,
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rclcpp_take,
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TP_ARGS(
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const void *, message_arg
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),
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TP_FIELDS(
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ctf_integer_hex(const void *, message, message_arg)
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)
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)
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TRACEPOINT_EVENT(
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TRACEPOINT_PROVIDER,
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rclcpp_executor_get_next_ready,
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TP_ARGS(),
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TP_FIELDS()
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)
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TRACEPOINT_EVENT(
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TRACEPOINT_PROVIDER,
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rmw_take,
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TP_ARGS(
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const void *, rmw_subscription_handle_arg,
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const void *, message_arg,
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int64_t, source_timestamp_arg,
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const bool, taken_arg
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),
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TP_FIELDS(
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ctf_integer_hex(const void *, rmw_subscription_handle, rmw_subscription_handle_arg)
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ctf_integer_hex(const void *, message, message_arg)
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ctf_integer(int64_t, source_timestamp, source_timestamp_arg)
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ctf_integer(int, taken, (taken_arg ? 1 : 0))
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)
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)
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TRACEPOINT_EVENT(
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TRACEPOINT_PROVIDER,
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rmw_publish,
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TP_ARGS(
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const void *, rmw_publisher_handle_arg,
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const void *, message_arg,
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int64_t, timestamp_arg
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),
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TP_FIELDS(
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ctf_integer_hex(const void *, rmw_publisher_handle, rmw_publisher_handle_arg)
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ctf_integer_hex(const void *, message, message_arg)
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ctf_integer(int64_t, timestamp, timestamp_arg)
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)
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)
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TRACEPOINT_EVENT(
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TRACEPOINT_PROVIDER,
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rmw_publisher_init,
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TP_ARGS(
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const void *, rmw_publisher_handle_arg,
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const uint8_t *, gid_arg
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),
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TP_FIELDS(
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ctf_integer_hex(const void *, rmw_publisher_handle, rmw_publisher_handle_arg)
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ctf_array(uint8_t, gid, gid_arg, TRACETOOLS_GID_STORAGE_SIZE)
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)
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)
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TRACEPOINT_EVENT(
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TRACEPOINT_PROVIDER,
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rmw_client_init,
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TP_ARGS(
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const void *, rmw_client_handle_arg,
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const uint8_t *, gid_arg
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),
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TP_FIELDS(
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ctf_integer_hex(const void *, rmw_client_handle, rmw_client_handle_arg)
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ctf_array(uint8_t, gid, gid_arg, TRACETOOLS_GID_STORAGE_SIZE)
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)
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)
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TRACEPOINT_EVENT(
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TRACEPOINT_PROVIDER,
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rmw_subscription_init,
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TP_ARGS(
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const void *, rmw_subscription_handle_arg,
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const uint8_t *, gid_arg
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),
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TP_FIELDS(
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ctf_integer_hex(const void *, rmw_subscription_handle, rmw_subscription_handle_arg)
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ctf_array(uint8_t, gid, gid_arg, TRACETOOLS_GID_STORAGE_SIZE)
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)
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)
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TRACEPOINT_EVENT(
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TRACEPOINT_PROVIDER,
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rmw_take_response,
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TP_ARGS(
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const void *, rmw_client_handle_arg,
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const void *, response_arg,
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int64_t, sequence_number_arg,
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int64_t, source_timestamp_arg,
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const bool, taken_arg
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),
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TP_FIELDS(
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ctf_integer_hex(const void *, rmw_client_handle, rmw_client_handle_arg)
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ctf_integer_hex(const void *, response, response_arg)
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ctf_integer(int64_t, sequence_number, sequence_number_arg)
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ctf_integer(int64_t, source_timestamp, source_timestamp_arg)
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ctf_integer(int, taken, (taken_arg ? 1 : 0))
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)
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)
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TRACEPOINT_EVENT(
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TRACEPOINT_PROVIDER,
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rmw_take_request,
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TP_ARGS(
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const void *, rmw_service_handle_arg,
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const void *, request_arg,
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const uint8_t *, client_gid_arg,
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int64_t, sequence_number_arg,
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const bool, taken_arg
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),
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TP_FIELDS(
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ctf_integer_hex(const void *, rmw_service_handle, rmw_service_handle_arg)
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ctf_integer_hex(const void *, request, request_arg)
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ctf_array(uint8_t, client_gid, client_gid_arg, TRACETOOLS_GID_STORAGE_SIZE)
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ctf_integer(int64_t, sequence_number, sequence_number_arg)
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ctf_integer(int, taken, (taken_arg ? 1 : 0))
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)
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)
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TRACEPOINT_EVENT(
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TRACEPOINT_PROVIDER,
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rmw_send_response,
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TP_ARGS(
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const void *, rmw_service_handle_arg,
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const void *, response_arg,
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const uint8_t *, client_gid_arg,
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int64_t, sequence_number_arg,
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int64_t, timestamp_arg
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),
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TP_FIELDS(
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ctf_integer_hex(const void *, rmw_service_handle, rmw_service_handle_arg)
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ctf_integer_hex(const void *, response, response_arg)
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ctf_array(uint8_t, client_gid, client_gid_arg, TRACETOOLS_GID_STORAGE_SIZE)
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ctf_integer(int64_t, sequence_number, sequence_number_arg)
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ctf_integer(int64_t, timestamp, timestamp_arg)
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)
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)
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TRACEPOINT_EVENT(
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TRACEPOINT_PROVIDER,
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rmw_send_request,
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TP_ARGS(
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const void *, rmw_client_handle_arg,
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const void *, request_arg,
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int64_t, sequence_number_arg
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),
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TP_FIELDS(
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ctf_integer_hex(const void *, rmw_client_handle, rmw_client_handle_arg)
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ctf_integer_hex(const void *, request, request_arg)
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ctf_integer(int64_t, sequence_number, sequence_number_arg)
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)
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)
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TRACEPOINT_EVENT(
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TRACEPOINT_PROVIDER,
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rcl_take,
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TP_ARGS(
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const void *, message_arg
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),
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TP_FIELDS(
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ctf_integer_hex(const void *, message, message_arg)
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)
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)
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TRACEPOINT_EVENT(
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TRACEPOINT_PROVIDER,
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rclcpp_intra_publish,
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TP_ARGS(
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const void *, publisher_handle_arg,
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const void *, message_arg
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),
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TP_FIELDS(
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ctf_integer_hex(const void *, publisher_handle, publisher_handle_arg)
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ctf_integer_hex(const void *, message, message_arg)
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)
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)
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TRACEPOINT_EVENT(
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TRACEPOINT_PROVIDER,
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rclcpp_ring_buffer_clear,
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TP_ARGS(
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const void *, buffer_arg
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),
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TP_FIELDS(
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ctf_integer_hex(const void *, buffer, buffer_arg)
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)
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)
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TRACEPOINT_EVENT(
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TRACEPOINT_PROVIDER,
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rclcpp_ring_buffer_dequeue,
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TP_ARGS(
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const void *, buffer_arg,
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const uint64_t, index_arg,
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const uint64_t, size_arg
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),
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TP_FIELDS(
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ctf_integer_hex(const void *, buffer, buffer_arg)
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ctf_integer(const uint64_t, index, index_arg)
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ctf_integer(const uint64_t, size, size_arg)
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)
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)
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TRACEPOINT_EVENT(
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TRACEPOINT_PROVIDER,
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rclcpp_buffer_to_ipb,
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TP_ARGS(
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const void *, buffer_arg,
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const void *, ipb_arg
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),
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TP_FIELDS(
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ctf_integer_hex(const void *, buffer, buffer_arg)
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ctf_integer_hex(const void *, ipb, ipb_arg)
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)
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)
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TRACEPOINT_EVENT(
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TRACEPOINT_PROVIDER,
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rclcpp_construct_ring_buffer,
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TP_ARGS(
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const void *, buffer_arg,
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const uint64_t, capacity_arg
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),
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TP_FIELDS(
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ctf_integer_hex(const void *, buffer, buffer_arg)
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ctf_integer(const uint64_t, capacity, capacity_arg)
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)
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)
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TRACEPOINT_EVENT(
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TRACEPOINT_PROVIDER,
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rclcpp_ring_buffer_enqueue,
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TP_ARGS(
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const void *, buffer_arg,
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const uint64_t, index_arg,
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const uint64_t, size_arg,
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const bool, overwritten_arg
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),
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TP_FIELDS(
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ctf_integer_hex(const void *, buffer, buffer_arg)
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ctf_integer(const uint64_t, index, index_arg)
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ctf_integer(const uint64_t, size, size_arg)
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ctf_integer(const int, overwritten, (overwritten_arg ? 1 : 0))
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)
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)
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TRACEPOINT_EVENT(
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TRACEPOINT_PROVIDER,
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message_link_periodic_async,
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TP_ARGS(
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const void **, subs_arg,
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const size_t, num_subs_arg,
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const void **, pubs_arg,
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const size_t, num_pubs_arg
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),
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TP_FIELDS(
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ctf_sequence_hex(const void *, subs, subs_arg, size_t, num_subs_arg)
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ctf_sequence_hex(const void *, pubs, pubs_arg, size_t, num_pubs_arg)
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)
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)
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TRACEPOINT_EVENT(
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TRACEPOINT_PROVIDER,
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message_link_partial_sync,
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TP_ARGS(
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const void **, subs_arg,
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const size_t, num_subs_arg,
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const void **, pubs_arg,
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const size_t, num_pubs_arg
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),
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TP_FIELDS(
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ctf_sequence_hex(const void *, subs, subs_arg, size_t, num_subs_arg)
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ctf_sequence_hex(const void *, pubs, pubs_arg, size_t, num_pubs_arg)
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)
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)
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TRACEPOINT_EVENT(
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TRACEPOINT_PROVIDER,
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rclcpp_timer_link_node,
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TP_ARGS(
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const void *, timer_handle_arg,
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const void *, node_handle_arg
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),
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TP_FIELDS(
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ctf_integer_hex(const void *, timer_handle, timer_handle_arg)
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ctf_integer_hex(const void *, node_handle, node_handle_arg)
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)
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)
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TRACEPOINT_EVENT(
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TRACEPOINT_PROVIDER,
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rcl_lifecycle_transition,
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TP_ARGS(
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const void *, state_machine_arg,
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const char *, start_label_arg,
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const char *, goal_label_arg
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),
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TP_FIELDS(
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ctf_integer_hex(const void *, state_machine, state_machine_arg)
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ctf_string(start_label, start_label_arg)
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ctf_string(goal_label, goal_label_arg)
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)
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)
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TRACEPOINT_EVENT(
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TRACEPOINT_PROVIDER,
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rcl_lifecycle_state_machine_init,
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TP_ARGS(
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const void *, node_handle_arg,
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const void *, state_machine_arg
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),
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TP_FIELDS(
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ctf_integer_hex(const void *, node_handle, node_handle_arg)
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ctf_integer_hex(const void *, state_machine, state_machine_arg)
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)
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)
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TRACEPOINT_EVENT(
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TRACEPOINT_PROVIDER,
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rcl_subscription_init,
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|
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@ -39,13 +39,33 @@
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*/
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# define TRACEPOINT(event_name, ...) \
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(ros_trace_ ## event_name)(__VA_ARGS__)
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# define TRACEPOINT_NOARGS(event_name) \
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(ros_trace_ ## event_name)()
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# define DECLARE_TRACEPOINT(event_name, ...) \
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TRACETOOLS_PUBLIC void ros_trace_ ## event_name(__VA_ARGS__);
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TRACETOOLS_PUBLIC void ros_trace_ ## event_name(__VA_ARGS__); \
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TRACETOOLS_PUBLIC bool ros_trace_enabled_ ## event_name(); \
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TRACETOOLS_PUBLIC void ros_trace_do_ ## event_name(__VA_ARGS__);
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# define DECLARE_TRACEPOINT_NOARGS(event_name) \
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TRACETOOLS_PUBLIC void ros_trace_ ## event_name(void); \
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TRACETOOLS_PUBLIC bool ros_trace_enabled_ ## event_name(); \
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TRACETOOLS_PUBLIC void ros_trace_do_ ## event_name(void);
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#else
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# define TRACEPOINT(event_name, ...) ((void) (0))
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# define DECLARE_TRACEPOINT(event_name, ...)
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#endif
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/// Check if a tracepoint is enabled at runtime.
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/**
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* This can be useful to only compute tracepoint arguments if the tracepoint is actually enabled at
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* runtime. Combine this with `DO_TRACEPOINT()` instead of `TRACEPOINT()` to trigger a tracepoint
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* after checking if it is enabled and computing its arguments.
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*
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* This is the preferred method over calling the underlying function directly.
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*/
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# define TRACEPOINT_ENABLED(event_name) \
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ros_trace_enabled_ ## event_name()
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#ifdef __cplusplus
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extern "C"
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{
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|
|
@ -105,6 +125,409 @@ DECLARE_TRACEPOINT(
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const char * topic_name,
|
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const size_t queue_depth)
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/// `rcl_publish`
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/**
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* Message publication.
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* Links a `rcl_publisher_t` handle to a pointer to
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* a message being published at the `rcl` level.
|
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*
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* \param[in] publisher_handle pointer to the publisher's `rcl_publisher_t` handle
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* \param[in] message pointer to the message being published
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*/
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DECLARE_TRACEPOINT(
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rcl_publish,
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const void * publisher_handle,
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const void * message)
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/// `rcl_init`
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/**
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* Initialisation for the whole process.
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* Notes the `tracetools` version automatically.
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*
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* \param[in] context_handle pointer to the `rcl_context_t` handle
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*/
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DECLARE_TRACEPOINT(
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rcl_init,
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const void * context_handle)
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/// `rclcpp_publish`
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/**
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* Message publication.
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* Links a `rcl_publisher_t` handle to a pointer to
|
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* a message being published at the `rclcpp` level.
|
||||
*
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* \param[in] publisher_handle pointer to the publisher's `rcl_publisher_t` handle
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* \param[in] message pointer to the message being published
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*/
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|
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DECLARE_TRACEPOINT(
|
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rclcpp_publish,
|
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const void * publisher_handle,
|
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const void * message)
|
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|
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/// `rclcpp_executor_execute`
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/**
|
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* Executable execution.
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* Notes an executable being executed using its `rcl` handle, which can be a:
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* * timer
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* * subscription
|
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*
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||||
* \param[in] handle pointer to the `rcl` handle of the executable being executed
|
||||
*/
|
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DECLARE_TRACEPOINT(
|
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rclcpp_executor_execute,
|
||||
const void * handle)
|
||||
|
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/// `rclcpp_executor_wait_for_work`
|
||||
/**
|
||||
* Notes the start time of the executor phase that waits for work and notes the timeout value.
|
||||
*
|
||||
* \param[in] timeout the timeout value for the wait call
|
||||
*/
|
||||
DECLARE_TRACEPOINT(
|
||||
rclcpp_executor_wait_for_work,
|
||||
const int64_t timeout)
|
||||
|
||||
/// `rclcpp_take`
|
||||
/**
|
||||
* Message taking.
|
||||
* Notes the pointer to the message being taken at the `rclcpp` level.
|
||||
*
|
||||
* \param[in] message pointer to the message being taken
|
||||
*/
|
||||
DECLARE_TRACEPOINT(
|
||||
rclcpp_take,
|
||||
const void * message)
|
||||
|
||||
/// `rclcpp_executor_get_next_ready`
|
||||
/**
|
||||
* Notes the start time of the executor phase that gets the next executable that's ready.
|
||||
*/
|
||||
DECLARE_TRACEPOINT_NOARGS(
|
||||
rclcpp_executor_get_next_ready)
|
||||
|
||||
/// `rmw_take`
|
||||
/**
|
||||
* Message taking.
|
||||
* Links a `rmw_subscription_t` handle to a pointer to a message being taken at the `rmw` level.
|
||||
* Notes the source timestamp of the message.
|
||||
*
|
||||
* \param[in] rmw_subscription_handle pointer to the subscription's `rmw_subscription_t` handle
|
||||
* \param[in] message pointer to the message being taken
|
||||
* \param[in] source_timestamp the source timestamp of the message,
|
||||
* or 0 (if no message or no info)
|
||||
* \param[in] taken whether a message was taken
|
||||
*/
|
||||
DECLARE_TRACEPOINT(
|
||||
rmw_take,
|
||||
const void * rmw_subscription_handle,
|
||||
const void * message,
|
||||
int64_t source_timestamp,
|
||||
const bool taken)
|
||||
|
||||
/// `rmw_publish`
|
||||
/**
|
||||
* Message publication.
|
||||
* Notes the pointer to the message being published at the `rmw` level.
|
||||
* Also notes the source timestamp of the message.
|
||||
*
|
||||
* \param[in] rmw_publisher_handle pointer to the publisher's `rmw_publisher_t` handle
|
||||
* \param[in] message pointer to the message being published
|
||||
* \param[in] timestamp the source timestamp of the message
|
||||
*/
|
||||
DECLARE_TRACEPOINT(
|
||||
rmw_publish,
|
||||
const void * rmw_publisher_handle,
|
||||
const void * message,
|
||||
int64_t timestamp)
|
||||
|
||||
/// `rmw_publisher_init`
|
||||
/**
|
||||
* RMW publisher initialisation.
|
||||
* Links a `rmw_publisher_t` handle to its DDS/rmw GID.
|
||||
*
|
||||
* \param[in] rmw_publisher_handle pointer to the publisher's `rmw_publisher_t` handle
|
||||
* \param[in] gid pointer to the publisher's DDS/rmw GID
|
||||
*/
|
||||
DECLARE_TRACEPOINT(
|
||||
rmw_publisher_init,
|
||||
const void * rmw_publisher_handle,
|
||||
const uint8_t * gid)
|
||||
|
||||
/// `rmw_client_init`
|
||||
/**
|
||||
* RMW client initialisation.
|
||||
* Links a `rmw_client_t` handle to its DDS/rmw GID.
|
||||
* This GID should be the same client GID that is collected by the `rmw_take_request` and
|
||||
* `rmw_send_response` tracepoints for requests made by this client and responses to requests made
|
||||
* by this client.
|
||||
*
|
||||
* \param[in] rmw_client_handle pointer to the client's `rmw_client_t` handle
|
||||
* \param[in] gid pointer to the client's DDS/rmw GID
|
||||
*/
|
||||
DECLARE_TRACEPOINT(
|
||||
rmw_client_init,
|
||||
const void * rmw_client_handle,
|
||||
const uint8_t * gid)
|
||||
|
||||
/// `rmw_subscription_init`
|
||||
/**
|
||||
* RMW subscription initialisation.
|
||||
* Links a `rmw_subscription_handle` handle to its DDS/rmw GID.
|
||||
*
|
||||
* \param[in] rmw_subscription_handle pointer to the publisher's `rmw_subscription_t` handle
|
||||
* \param[in] gid pointer to the subscription's DDS/rmw GID
|
||||
*/
|
||||
DECLARE_TRACEPOINT(
|
||||
rmw_subscription_init,
|
||||
const void * rmw_subscription_handle,
|
||||
const uint8_t * gid)
|
||||
|
||||
/// `rmw_take_response`
|
||||
/**
|
||||
* Response taking.
|
||||
* Links a `rmw_client_t` handle to a pointer to a response being taken at the `rmw` level.
|
||||
* Notes the source timestamp of the response. Also notes the sequence number of the request this
|
||||
* response is for. It does not note the request's client GID, since it is assumed that the matching
|
||||
* of the response to the original client is performed before this tracepoint.
|
||||
*
|
||||
* \param[in] rmw_client_handle pointer to the client's `rmw_client_t` handle
|
||||
* \param[in] response pointer to the response being taken
|
||||
* \param[in] sequence_number the sequence number of the request this response is for,
|
||||
* or 0 (if no response or no info)
|
||||
* \param[in] source_timestamp the source timestamp of the response,
|
||||
* or 0 (if no response or no info)
|
||||
* \param[in] taken whether a response was taken
|
||||
*/
|
||||
DECLARE_TRACEPOINT(
|
||||
rmw_take_response,
|
||||
const void * rmw_client_handle,
|
||||
const void * response,
|
||||
int64_t sequence_number,
|
||||
int64_t source_timestamp,
|
||||
const bool taken)
|
||||
|
||||
/// `rmw_take_request`
|
||||
/**
|
||||
* Request taking.
|
||||
* Links a `rmw_service_t` handle to a pointer to a request being taken at the `rmw` level.
|
||||
* Also notes the sequence number of the request and the GID of the requesting client.
|
||||
*
|
||||
* \param[in] rmw_service_handle pointer to the service's `rmw_service_t` handle
|
||||
* \param[in] request pointer to the request being taken
|
||||
* \param[in] client_gid the GID of the requesting client
|
||||
* \param[in] sequence_number the sequence number of the received request,
|
||||
* or 0 (if no request or no info)
|
||||
* \param[in] taken whether a request was taken
|
||||
*/
|
||||
DECLARE_TRACEPOINT(
|
||||
rmw_take_request,
|
||||
const void * rmw_service_handle,
|
||||
const void * request,
|
||||
const uint8_t * client_gid,
|
||||
int64_t sequence_number,
|
||||
const bool taken)
|
||||
|
||||
/// `rmw_send_response`
|
||||
/**
|
||||
* Response publication.
|
||||
* Notes the pointer to the response being sent at the `rmw` level.
|
||||
* Also notes the sequence number of the request that this response is for and the GID of the
|
||||
* requesting client, and notes the source timestamp of the response.
|
||||
*
|
||||
* \param[in] rmw_service_handle pointer to the service's `rmw_service_t` handle
|
||||
* \param[in] response pointer to the request being sent
|
||||
* \param[in] client_gid the GID of the requesting client
|
||||
* \param[in] sequence_number the sequence number of the request this response is for
|
||||
* \param[in] timestamp the source timestamp of the response
|
||||
*/
|
||||
DECLARE_TRACEPOINT(
|
||||
rmw_send_response,
|
||||
const void * rmw_service_handle,
|
||||
const void * response,
|
||||
const uint8_t * client_gid,
|
||||
int64_t sequence_number,
|
||||
int64_t timestamp)
|
||||
|
||||
/// `rmw_send_request`
|
||||
/**
|
||||
* Request publication.
|
||||
* Notes the pointer to the request being sent at the `rmw` level.
|
||||
* Also notes the sequence number of the request.
|
||||
*
|
||||
* \param[in] rmw_client_handle pointer to the client's `rmw_client_t` handle
|
||||
* \param[in] request pointer to the request being sent
|
||||
* \param[in] sequence_number the sequence number of the request
|
||||
*/
|
||||
DECLARE_TRACEPOINT(
|
||||
rmw_send_request,
|
||||
const void * rmw_client_handle,
|
||||
const void * request,
|
||||
int64_t sequence_number)
|
||||
|
||||
/// `rcl_take`
|
||||
/**
|
||||
* Message taking.
|
||||
* Notes the pointer to the message being taken at the `rcl` level.
|
||||
*
|
||||
* \param[in] message pointer to the message being taken
|
||||
*/
|
||||
DECLARE_TRACEPOINT(
|
||||
rcl_take,
|
||||
const void * message)
|
||||
|
||||
/// `rclcpp_intra_publish`
|
||||
/**
|
||||
* Intra-process message publication.
|
||||
* Notes the pointer to the message being published in intra process at the `rclcpp` level.
|
||||
*
|
||||
* \param[in] publisher_handle pointer to the publisher's `rcl_publisher_t` handle
|
||||
* \param[in] message pointer to the message being published
|
||||
*/
|
||||
DECLARE_TRACEPOINT(
|
||||
rclcpp_intra_publish,
|
||||
const void * publisher_handle,
|
||||
const void * message)
|
||||
|
||||
/// `rclcpp_ring_buffer_clear`
|
||||
/**
|
||||
* Ring buffer clear.
|
||||
* Notes the address of the cleared buffer.
|
||||
*
|
||||
* \param[in] buffer pointer to the buffer
|
||||
*/
|
||||
DECLARE_TRACEPOINT(
|
||||
rclcpp_ring_buffer_clear,
|
||||
const void * buffer)
|
||||
|
||||
/// `message_link_periodic_async`
|
||||
/**
|
||||
* Message link annotation for N-to-M link.
|
||||
*
|
||||
* \param[in] subs pointers to the `rcl` handles of the subscriptions in the link
|
||||
* \param[in] num_subs the number of subscriptions in the link
|
||||
* \param[in] pubs pointers to the `rcl` handles of the publishers in the link
|
||||
* \param[in] num_pubs the number of publishers in the link
|
||||
*/
|
||||
DECLARE_TRACEPOINT(
|
||||
message_link_periodic_async,
|
||||
const void ** subs,
|
||||
const size_t num_subs,
|
||||
const void ** pubs,
|
||||
const size_t num_pubs)
|
||||
|
||||
/// `message_link_partial_sync`
|
||||
/**
|
||||
* Message link annotation for 2-to-M link.
|
||||
*
|
||||
* \param[in] subs pointers to the `rcl` handles of the subscriptions in the link
|
||||
* \param[in] num_subs the number of subscriptions in the link
|
||||
* \param[in] pubs pointers to the `rcl` handles of the publishers in the link
|
||||
* \param[in] num_pubs the number of publishers in the link
|
||||
*/
|
||||
DECLARE_TRACEPOINT(
|
||||
message_link_partial_sync,
|
||||
const void ** subs,
|
||||
const size_t num_subs,
|
||||
const void ** pubs,
|
||||
const size_t num_pubs)
|
||||
|
||||
/// `rclcpp_ring_buffer_dequeue`
|
||||
/**
|
||||
* Ring buffer dequeue.
|
||||
* Notes buffer address, the index to read from, and the size of the buffer after this operation.
|
||||
*
|
||||
* \param[in] buffer pointer to the buffer
|
||||
* \param[in] index the index to read from
|
||||
* \param[in] size the size of the buffer after this operation
|
||||
*/
|
||||
DECLARE_TRACEPOINT(
|
||||
rclcpp_ring_buffer_dequeue,
|
||||
const void * buffer,
|
||||
const uint64_t index,
|
||||
const uint64_t size)
|
||||
|
||||
/// `rclcpp_buffer_to_ipb`
|
||||
/**
|
||||
* Intra-process buffer initialization.
|
||||
* Notes the `BufferImplementationBase` and the `IntraProcessBuffer` that owns it.
|
||||
*
|
||||
* \param[in] buffer the pointer to the `BufferImplementationBase`
|
||||
* \param[in] ipb to pointer to the `IntraProcessBuffer`
|
||||
*/
|
||||
DECLARE_TRACEPOINT(
|
||||
rclcpp_buffer_to_ipb,
|
||||
const void * buffer,
|
||||
const void * ipb)
|
||||
|
||||
/// `rclcpp_construct_ring_buffer`
|
||||
/**
|
||||
* Ring buffer construction.
|
||||
* Notes the buffer address and its capacity.
|
||||
*
|
||||
* \param[in] buffer pointer to the buffer
|
||||
* \param[in] capacity buffer size
|
||||
*/
|
||||
DECLARE_TRACEPOINT(
|
||||
rclcpp_construct_ring_buffer,
|
||||
const void * buffer,
|
||||
const uint64_t capacity)
|
||||
|
||||
/// `rclcpp_ring_buffer_enqueue`
|
||||
/**
|
||||
* Notes buffer address, the index to write to, and the occurrence of the lost.
|
||||
*
|
||||
* \param[in] buffer pointer to the buffer
|
||||
* \param[in] index the index to write to
|
||||
* \param[in] size the size of the buffer after this operation
|
||||
* \param[in] overwritten occurrence of the lost
|
||||
*/
|
||||
DECLARE_TRACEPOINT(
|
||||
rclcpp_ring_buffer_enqueue,
|
||||
const void * buffer,
|
||||
const uint64_t index,
|
||||
const uint64_t size,
|
||||
const bool overwritten)
|
||||
|
||||
/// `rclcpp_timer_link_node`
|
||||
/**
|
||||
* Link a timer to a node.
|
||||
*
|
||||
* \param[in] timer_handle pointer to the timer's `rcl_timer_t` handle
|
||||
* \param[in] node_handle pointer to the `rcl_node_t` handle of the node the timer belongs to
|
||||
*/
|
||||
DECLARE_TRACEPOINT(
|
||||
rclcpp_timer_link_node,
|
||||
const void * timer_handle,
|
||||
const void * node_handle)
|
||||
|
||||
/// `rcl_lifecycle_transition`
|
||||
/**
|
||||
* Lifecycle transition between two states.
|
||||
*
|
||||
* \param[in] state_machine pointer to the state machine for the transition
|
||||
* \param[in] start_label start state label
|
||||
* \param[in] goal_label goal state label
|
||||
*/
|
||||
DECLARE_TRACEPOINT(
|
||||
rcl_lifecycle_transition,
|
||||
const void * state_machine,
|
||||
const char * start_label,
|
||||
const char * goal_label)
|
||||
|
||||
/// `rcl_lifecycle_state_machine_init`
|
||||
/**
|
||||
* Lifecycle state machine initialisation.
|
||||
* Links a `rcl_lifecycle_state_machine_t` handle to a `rcl_node_t` handle.
|
||||
*
|
||||
* \param[in] node_handle pointer to the node handle
|
||||
* \param[in] state_machine pointer to the state machine
|
||||
*/
|
||||
DECLARE_TRACEPOINT(
|
||||
rcl_lifecycle_state_machine_init,
|
||||
const void * node_handle,
|
||||
const void * state_machine)
|
||||
|
||||
/// `rcl_subscription_init`
|
||||
/**
|
||||
* Subscription initialisation.
|
||||
|
|
|
|||
|
|
@ -82,6 +82,332 @@ void TRACEPOINT(
|
|||
queue_depth);
|
||||
}
|
||||
|
||||
void TRACEPOINT(
|
||||
rcl_publish,
|
||||
const void * publisher_handle,
|
||||
const void * message)
|
||||
{
|
||||
CONDITIONAL_TP(
|
||||
rcl_publish,
|
||||
publisher_handle,
|
||||
message);
|
||||
}
|
||||
|
||||
void TRACEPOINT(
|
||||
rmw_publish,
|
||||
const void * rmw_publisher_handle,
|
||||
const void * message,
|
||||
int64_t timestamp)
|
||||
{
|
||||
CONDITIONAL_TP(
|
||||
rmw_publish,
|
||||
rmw_publisher_handle,
|
||||
message,
|
||||
timestamp);
|
||||
}
|
||||
|
||||
void TRACEPOINT(
|
||||
rmw_publisher_init,
|
||||
const void * rmw_publisher_handle,
|
||||
const uint8_t * gid)
|
||||
{
|
||||
CONDITIONAL_TP(
|
||||
rmw_publisher_init,
|
||||
rmw_publisher_handle,
|
||||
gid);
|
||||
}
|
||||
|
||||
void TRACEPOINT(
|
||||
rclcpp_publish,
|
||||
const void * publisher_handle,
|
||||
const void * message)
|
||||
{
|
||||
CONDITIONAL_TP(
|
||||
rclcpp_publish,
|
||||
publisher_handle,
|
||||
message);
|
||||
}
|
||||
|
||||
void TRACEPOINT(
|
||||
rclcpp_executor_execute,
|
||||
const void * handle)
|
||||
{
|
||||
CONDITIONAL_TP(
|
||||
rclcpp_executor_execute,
|
||||
handle);
|
||||
}
|
||||
|
||||
void TRACEPOINT(
|
||||
rclcpp_executor_wait_for_work,
|
||||
const int64_t timeout)
|
||||
{
|
||||
CONDITIONAL_TP(
|
||||
rclcpp_executor_wait_for_work,
|
||||
timeout);
|
||||
}
|
||||
|
||||
void TRACEPOINT(
|
||||
rclcpp_take,
|
||||
const void * message)
|
||||
{
|
||||
CONDITIONAL_TP(
|
||||
rclcpp_take,
|
||||
message);
|
||||
}
|
||||
|
||||
void TRACEPOINT_NOARGS(
|
||||
rclcpp_executor_get_next_ready)
|
||||
{
|
||||
CONDITIONAL_TP(
|
||||
rclcpp_executor_get_next_ready);
|
||||
}
|
||||
|
||||
void TRACEPOINT(
|
||||
rmw_take,
|
||||
const void * rmw_subscription_handle,
|
||||
const void * message,
|
||||
int64_t source_timestamp,
|
||||
const bool taken)
|
||||
{
|
||||
CONDITIONAL_TP(
|
||||
rmw_take,
|
||||
rmw_subscription_handle,
|
||||
message,
|
||||
source_timestamp,
|
||||
taken);
|
||||
}
|
||||
|
||||
void TRACEPOINT(
|
||||
rmw_client_init,
|
||||
const void * rmw_client_handle,
|
||||
const uint8_t * gid)
|
||||
{
|
||||
CONDITIONAL_TP(
|
||||
rmw_client_init,
|
||||
rmw_client_handle,
|
||||
gid);
|
||||
}
|
||||
|
||||
void TRACEPOINT(
|
||||
rmw_subscription_init,
|
||||
const void * rmw_subscription_handle,
|
||||
const uint8_t * gid)
|
||||
{
|
||||
CONDITIONAL_TP(
|
||||
rmw_subscription_init,
|
||||
rmw_subscription_handle,
|
||||
gid);
|
||||
}
|
||||
|
||||
|
||||
void TRACEPOINT(
|
||||
rmw_take_response,
|
||||
const void * rmw_client_handle,
|
||||
const void * response,
|
||||
int64_t sequence_number,
|
||||
int64_t source_timestamp,
|
||||
const bool taken)
|
||||
{
|
||||
CONDITIONAL_TP(
|
||||
rmw_take_response,
|
||||
rmw_client_handle,
|
||||
response,
|
||||
sequence_number,
|
||||
source_timestamp,
|
||||
taken);
|
||||
}
|
||||
|
||||
void TRACEPOINT(
|
||||
rmw_take_request,
|
||||
const void * rmw_service_handle,
|
||||
const void * request,
|
||||
const uint8_t * client_gid,
|
||||
int64_t sequence_number,
|
||||
const bool taken)
|
||||
{
|
||||
CONDITIONAL_TP(
|
||||
rmw_take_request,
|
||||
rmw_service_handle,
|
||||
request,
|
||||
client_gid,
|
||||
sequence_number,
|
||||
taken);
|
||||
}
|
||||
|
||||
void TRACEPOINT(
|
||||
rmw_send_response,
|
||||
const void * rmw_service_handle,
|
||||
const void * response,
|
||||
const uint8_t * client_gid,
|
||||
int64_t sequence_number,
|
||||
int64_t timestamp)
|
||||
{
|
||||
CONDITIONAL_TP(
|
||||
rmw_send_response,
|
||||
rmw_service_handle,
|
||||
response,
|
||||
client_gid,
|
||||
sequence_number,
|
||||
timestamp);
|
||||
}
|
||||
|
||||
void TRACEPOINT(
|
||||
rmw_send_request,
|
||||
const void * rmw_client_handle,
|
||||
const void * request,
|
||||
int64_t sequence_numer)
|
||||
{
|
||||
CONDITIONAL_TP(
|
||||
rmw_send_request,
|
||||
rmw_client_handle,
|
||||
request,
|
||||
sequence_numer);
|
||||
}
|
||||
|
||||
void TRACEPOINT(
|
||||
rcl_take,
|
||||
const void * message)
|
||||
{
|
||||
CONDITIONAL_TP(
|
||||
rcl_take,
|
||||
message);
|
||||
}
|
||||
|
||||
void TRACEPOINT(
|
||||
rclcpp_intra_publish,
|
||||
const void * publisher_handle,
|
||||
const void * message)
|
||||
{
|
||||
CONDITIONAL_TP(
|
||||
rclcpp_intra_publish,
|
||||
publisher_handle,
|
||||
message);
|
||||
}
|
||||
|
||||
void TRACEPOINT(
|
||||
message_link_periodic_async,
|
||||
const void ** subs,
|
||||
const size_t num_subs,
|
||||
const void ** pubs,
|
||||
const size_t num_pubs)
|
||||
{
|
||||
CONDITIONAL_TP(
|
||||
message_link_periodic_async,
|
||||
subs,
|
||||
num_subs,
|
||||
pubs,
|
||||
num_pubs);
|
||||
}
|
||||
|
||||
void TRACEPOINT(
|
||||
message_link_partial_sync,
|
||||
const void ** subs,
|
||||
const size_t num_subs,
|
||||
const void ** pubs,
|
||||
const size_t num_pubs)
|
||||
{
|
||||
CONDITIONAL_TP(
|
||||
message_link_partial_sync,
|
||||
subs,
|
||||
num_subs,
|
||||
pubs,
|
||||
num_pubs);
|
||||
}
|
||||
|
||||
void TRACEPOINT(
|
||||
rclcpp_ring_buffer_clear,
|
||||
const void * buffer)
|
||||
{
|
||||
CONDITIONAL_TP(
|
||||
rclcpp_ring_buffer_clear,
|
||||
buffer);
|
||||
}
|
||||
|
||||
void TRACEPOINT(
|
||||
rclcpp_ring_buffer_dequeue,
|
||||
const void * buffer,
|
||||
const uint64_t index,
|
||||
const uint64_t size)
|
||||
{
|
||||
CONDITIONAL_TP(
|
||||
rclcpp_ring_buffer_dequeue,
|
||||
buffer,
|
||||
index,
|
||||
size);
|
||||
}
|
||||
|
||||
void TRACEPOINT(
|
||||
rclcpp_buffer_to_ipb,
|
||||
const void * buffer,
|
||||
const void * ipb)
|
||||
{
|
||||
CONDITIONAL_TP(
|
||||
rclcpp_buffer_to_ipb,
|
||||
buffer,
|
||||
ipb);
|
||||
}
|
||||
|
||||
void TRACEPOINT(
|
||||
rclcpp_construct_ring_buffer,
|
||||
const void * buffer,
|
||||
const uint64_t capacity)
|
||||
{
|
||||
CONDITIONAL_TP(
|
||||
rclcpp_construct_ring_buffer,
|
||||
buffer,
|
||||
capacity);
|
||||
}
|
||||
|
||||
void TRACEPOINT(
|
||||
rclcpp_ring_buffer_enqueue,
|
||||
const void * buffer,
|
||||
const uint64_t index,
|
||||
const uint64_t size,
|
||||
const bool overwritten)
|
||||
{
|
||||
CONDITIONAL_TP(
|
||||
rclcpp_ring_buffer_enqueue,
|
||||
buffer,
|
||||
index,
|
||||
size,
|
||||
overwritten);
|
||||
}
|
||||
|
||||
void TRACEPOINT(
|
||||
rclcpp_timer_link_node,
|
||||
const void * timer_handle,
|
||||
const void * node_handle)
|
||||
{
|
||||
CONDITIONAL_TP(
|
||||
rclcpp_timer_link_node,
|
||||
timer_handle,
|
||||
node_handle);
|
||||
}
|
||||
|
||||
void TRACEPOINT(
|
||||
rcl_lifecycle_transition,
|
||||
const void * state_machine,
|
||||
const char * start_label,
|
||||
const char * goal_label)
|
||||
{
|
||||
CONDITIONAL_TP(
|
||||
rcl_lifecycle_transition,
|
||||
state_machine,
|
||||
start_label,
|
||||
goal_label);
|
||||
}
|
||||
|
||||
void TRACEPOINT(
|
||||
rcl_lifecycle_state_machine_init,
|
||||
const void * node_handle,
|
||||
const void * state_machine)
|
||||
{
|
||||
CONDITIONAL_TP(
|
||||
rcl_lifecycle_state_machine_init,
|
||||
node_handle,
|
||||
state_machine);
|
||||
}
|
||||
|
||||
void TRACEPOINT(
|
||||
rcl_subscription_init,
|
||||
const void * subscription_handle,
|
||||
|
|
|
|||
|
|
@ -62,6 +62,8 @@ DEFAULT_EVENTS_ROS = [
|
|||
'ros2:rcl_init',
|
||||
'ros2:rcl_node_init',
|
||||
'ros2:rcl_publisher_init',
|
||||
'ros2:rcl_publish',
|
||||
'ros2:rclcpp_publish',
|
||||
'ros2:rcl_subscription_init',
|
||||
'ros2:rclcpp_subscription_init',
|
||||
'ros2:rclcpp_subscription_callback_added',
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue