493437c1f8
Signed-off-by: Christophe Bedard <bedard.christophe@gmail.com> Change title Signed-off-by: Christophe Bedard <bedard.christophe@gmail.com>
277 lines
8.4 KiB
C++
277 lines
8.4 KiB
C++
// Copyright 2019 Robert Bosch GmbH
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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/** \mainpage tracetools: tracing tools and instrumentation for ROS 2
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*
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* `tracetools` provides utilities to instrument ROS.
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* It provides two main headers:
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*
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* - tracetools/tracetools.h
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* - instrumentation functions
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* - tracetools/utils.hpp
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* - utility functions
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*/
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#ifndef TRACETOOLS__TRACETOOLS_H_
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#define TRACETOOLS__TRACETOOLS_H_
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#include <stdint.h>
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#include <string.h>
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#include <stdbool.h>
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#include "tracetools/config.h"
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#include "tracetools/visibility_control.hpp"
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#ifndef TRACETOOLS_DISABLED
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/// Call a tracepoint.
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/**
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* This is the preferred method over calling the actual function directly.
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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 DECLARE_TRACEPOINT(event_name, ...) \
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TRACETOOLS_PUBLIC void ros_trace_ ## event_name(__VA_ARGS__);
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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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#ifdef __cplusplus
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extern "C"
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{
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#endif
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/// Get tracing compilation status.
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/**
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* \return `true` if tracing is enabled, `false` otherwise
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*/
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TRACETOOLS_PUBLIC bool ros_trace_compile_status();
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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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/// `rcl_node_init`
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/**
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* Node initialisation.
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* Links a `rcl_node_t` handle to its `rmw_node_t` handle.
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*
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* \param[in] node_handle pointer to the node's `rcl_node_t` handle
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* \param[in] rmw_handle pointer to the node's `rmw_node_t` handle
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* \param[in] node_name node name
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* \param[in] node_namespace node namespace
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*/
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DECLARE_TRACEPOINT(
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rcl_node_init,
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const void * node_handle,
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const void * rmw_handle,
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const char * node_name,
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const char * node_namespace)
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/// `rcl_publisher_init`
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/**
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* Publisher initialisation.
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* Links a `rcl_publisher_t` handle to its `rcl_node_t` handle
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* and its `rmw_publisher_t` handle, and links it to a topic name.
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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] node_handle pointer to the `rcl_node_t` handle of the node the publisher belongs to
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* \param[in] rmw_publisher_handle pointer to the publisher's `rmw_publisher_t` handle
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* \param[in] topic_name full topic name
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* \param[in] queue_depth publisher history depth
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*/
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DECLARE_TRACEPOINT(
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rcl_publisher_init,
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const void * publisher_handle,
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const void * node_handle,
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const void * rmw_publisher_handle,
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const char * topic_name,
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const size_t queue_depth)
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/// `rcl_subscription_init`
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/**
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* Subscription initialisation.
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* Links a `rcl_subscription_t` handle to its `rcl_node_t` handle
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* and its `rmw_subscription_t` handle, and links it to a topic name.
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*
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* \param[in] subscription_handle pointer to the subscription's `rcl_subscription_t` handle
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* \param[in] node_handle
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* pointer to the `rcl_node_t` handle of the node the subscription belongs to
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* \param[in] rmw_subscription_handle pointer to the subscription's `rmw_subscription_t` handle
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* \param[in] topic_name full topic name
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* \param[in] queue_depth subscription history depth
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*/
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DECLARE_TRACEPOINT(
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rcl_subscription_init,
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const void * subscription_handle,
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const void * node_handle,
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const void * rmw_subscription_handle,
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const char * topic_name,
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const size_t queue_depth)
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/// `rclcpp_subscription_init`
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/**
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* Subscription object initialisation.
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* Links the `rclcpp::*Subscription*` object to a `rcl_subscription_t` handle.
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* Needed since there could be more than 1 `rclcpp::*Subscription*` object
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* for one `rcl` subscription (e.g. when using intra-process).
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*
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* \param[in] subscription_handle
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* pointer to the `rcl_subscription_t` handle of the subscription this object belongs to
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* \param[in] subscription pointer to this subscription object (e.g. `rclcpp::*Subscription*`)
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*/
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DECLARE_TRACEPOINT(
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rclcpp_subscription_init,
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const void * subscription_handle,
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const void * subscription)
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/// `rclcpp_subscription_callback_added`
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/**
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* Link a subscription callback object to a subscription object.
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*
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* \param[in] subscription pointer to the subscription object this callback belongs to
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* \param[in] callback pointer to this callback object (e.g. `rclcpp::AnySubscriptionCallback`)
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*/
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DECLARE_TRACEPOINT(
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rclcpp_subscription_callback_added,
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const void * subscription,
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const void * callback)
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/// `rcl_service_init`
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/**
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* Service initialisation.
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* Links a `rcl_service_t` handle to its `rcl_node_t` handle
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* and its `rmw_service_t` handle, and links it to a service name.
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*
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* \param[in] service_handle pointer to the service's `rcl_service_t` handle
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* \param[in] node_handle pointer to the `rcl_node_t` handle of the node the service belongs to
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* \param[in] rmw_service_handle pointer to the service's `rmw_service_t` handle
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* \param[in] service_name full service name
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*/
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DECLARE_TRACEPOINT(
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rcl_service_init,
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const void * service_handle,
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const void * node_handle,
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const void * rmw_service_handle,
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const char * service_name)
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/// `rclcpp_service_callback_added`
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/**
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* Link a service callback object to a service.
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*
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* \param[in] service_handle
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* pointer to the `rcl_service_t` handle of the service this callback belongs to
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* \param[in] callback pointer to this callback object (e.g. `rclcpp::AnyServiceCallback`)
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*/
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DECLARE_TRACEPOINT(
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rclcpp_service_callback_added,
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const void * service_handle,
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const void * callback)
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/// `rcl_client_init`
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/**
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* Client initialisation.
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* Links a `rcl_client_t` handle to its `rcl_node_t` handle
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* and its `rmw_client_t` handle, and links it to a client name.
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*
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* \param[in] client_handle pointer to the client's `rcl_client_t` handle
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* \param[in] node_handle pointer to the `rcl_node_t` handle of the node the client belongs to
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* \param[in] rmw_client_handle pointer to the client's `rmw_client_t` handle
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* \param[in] service_name full client name
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*/
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DECLARE_TRACEPOINT(
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rcl_client_init,
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const void * client_handle,
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const void * node_handle,
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const void * rmw_client_handle,
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const char * service_name)
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/// `rcl_timer_init`
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/**
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* Timer initialisation.
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* Notes the timer's period.
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*
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* \param[in] timer_handle pointer to the timer's `rcl_timer_t` handle
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* \param[in] period period in nanoseconds
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*/
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DECLARE_TRACEPOINT(
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rcl_timer_init,
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const void * timer_handle,
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int64_t period)
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/// `rclcpp_timer_callback_added`
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/**
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* Link a timer callback object to its `rcl_timer_t` handle.
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*
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* \param[in] timer_handle
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* pointer to the `rcl_timer_t` handle of the timer this callback belongs to
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* \param[in] callback pointer to the callback object (`std::function`)
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*/
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DECLARE_TRACEPOINT(
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rclcpp_timer_callback_added,
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const void * timer_handle,
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const void * callback)
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/// `rclcpp_callback_register`
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/**
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* Register a demangled function symbol with a callback.
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*
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* \param[in] callback pointer to the callback object
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* (e.g. `rclcpp::AnySubscriptionCallback`,
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* `rclcpp::AnyServiceCallback`, timer `std::function`, etc.)
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* \param[in] function_symbol demangled symbol of the callback function/lambda,
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* see \ref get_symbol()
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*/
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DECLARE_TRACEPOINT(
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rclcpp_callback_register,
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const void * callback,
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const char * function_symbol)
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/// `callback_start`
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/**
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* Start of a callback.
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*
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* \param[in] callback pointer to this callback object
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* (e.g. `rclcpp::AnySubscriptionCallback`,
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* `rclcpp::AnyServiceCallback`, timer `std::function`, etc.)
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* \param[in] is_intra_process whether this callback is done via intra-process or not
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*/
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DECLARE_TRACEPOINT(
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callback_start,
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const void * callback,
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const bool is_intra_process)
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/// `callback_end`
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/**
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* End of a callback.
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*
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* \param[in] callback pointer to this callback object
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* (e.g. `rclcpp::AnySubscriptionCallback`,
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* `rclcpp::AnyServiceCallback`, timer `std::function`, etc.)
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*/
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DECLARE_TRACEPOINT(
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callback_end,
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const void * callback)
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#ifdef __cplusplus
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}
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#endif
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#endif // TRACETOOLS__TRACETOOLS_H_
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