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Add tracepoint for publish/subscribe serialized_message #748

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merged 3 commits into from
Apr 1, 2024
Merged

Add tracepoint for publish/subscribe serialized_message #748

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ba9003e
Add: tracepoint for generic pub/sub
h-suzuki-isp Jan 18, 2024
68a10b3
Fix: correspond to PR 454
h-suzuki-isp Feb 9, 2024
9e5f354
Fix: change write to write_to_timestamp
h-suzuki-isp Mar 5, 2024
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5 changes: 4 additions & 1 deletion rmw_fastrtps_shared_cpp/src/rmw_publish.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -109,7 +109,10 @@ __rmw_publish_serialized_message(
data.type = FASTRTPS_SERIALIZED_DATA_TYPE_CDR_BUFFER;
data.data = &ser;
data.impl = nullptr; // not used when type is FASTRTPS_SERIALIZED_DATA_TYPE_CDR_BUFFER
if (!info->data_writer_->write(&data)) {
eprosima::fastrtps::Time_t stamp;
eprosima::fastrtps::Time_t::now(stamp);
TRACETOOLS_TRACEPOINT(rmw_publish, publisher, serialized_message, stamp.to_ns());
if (!info->data_writer_->write_w_timestamp(&data, eprosima::fastdds::dds::HANDLE_NIL, stamp)) {
RMW_SET_ERROR_MSG("cannot publish data");
return RMW_RET_ERROR;
}
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7 changes: 6 additions & 1 deletion rmw_fastrtps_shared_cpp/src/rmw_take.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -348,7 +348,12 @@ _take_serialized_message(
break;
}
}

TRACETOOLS_TRACEPOINT(
rmw_take,
static_cast<const void *>(subscription),
static_cast<const void *>(serialized_message),
(message_info ? message_info->source_timestamp : 0LL),
*taken);
return RMW_RET_OK;
}

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