Add: tracepoint for subscribe serialized_message (#145)

* Add: tracepoint for take_serialized_message

Signed-off-by: h-suzuki <h-suzuki@isp.co.jp>

* Fix: TRACETOOLS_TRACEPOINT args

Signed-off-by: h-suzuki <h-suzuki@isp.co.jp>

* Update rmw_connextdds_common/src/common/rmw_subscription.cpp

Co-authored-by: Christophe Bedard <bedard.christophe@gmail.com>
Signed-off-by: h-suzuki-isp <146712054+h-suzuki-isp@users.noreply.github.com>

* Update rmw_connextdds_common/src/common/rmw_subscription.cpp

Co-authored-by: Christophe Bedard <bedard.christophe@gmail.com>
Signed-off-by: h-suzuki-isp <146712054+h-suzuki-isp@users.noreply.github.com>

---------

Signed-off-by: h-suzuki <h-suzuki@isp.co.jp>
Signed-off-by: h-suzuki-isp <146712054+h-suzuki-isp@users.noreply.github.com>
Co-authored-by: Christophe Bedard <bedard.christophe@gmail.com>

rmw_connextdds_common/src/common/rmw_subscription.cpp

@@ -386,7 +386,16 @@ rmw_api_connextdds_take_serialized_message(
   RMW_Connext_Subscriber * const sub_impl =
     reinterpret_cast<RMW_Connext_Subscriber *>(subscription->data);
 
-  return sub_impl->take_serialized(serialized_message, nullptr, taken);
+  rmw_ret_t rc = sub_impl->take_serialized(serialized_message, nullptr, taken);
+
+  TRACETOOLS_TRACEPOINT(
+    rmw_take,
+    subscription,
+    serialized_message,
+    0LL,
+    *taken);
+
+  return rc;
 }
 
 
@@ -413,7 +422,16 @@ rmw_api_connextdds_take_serialized_message_with_info(
   RMW_Connext_Subscriber * const sub_impl =
     reinterpret_cast<RMW_Connext_Subscriber *>(subscription->data);
 
-  return sub_impl->take_serialized(serialized_message, message_info, taken);
+  rmw_ret_t rc = sub_impl->take_serialized(serialized_message, message_info, taken);
+
+  TRACETOOLS_TRACEPOINT(
+    rmw_take,
+    subscription,
+    serialized_message,
+    (message_info ? message_info->source_timestamp : 0LL),
+    *taken);
+
+  return rc;
 }