Add instrumentation for linking a timer to a node (ros2#1500)

christophebedard · web-flow · commit b1ff2d5bdc9a · 2021-01-20T17:56:13.000-03:00
Signed-off-by: Christophe Bedard &lt;bedard.christophe@gmail.com&gt;
diff --git a/rclcpp/src/rclcpp/node_interfaces/node_timers.cpp b/rclcpp/src/rclcpp/node_interfaces/node_timers.cpp
@@ -16,6 +16,8 @@
 
 #include <string>
 
+#include "tracetools/tracetools.h"
+
 using rclcpp::node_interfaces::NodeTimers;
 
 NodeTimers::NodeTimers(rclcpp::node_interfaces::NodeBaseInterface * node_base)
@@ -44,4 +46,8 @@ NodeTimers::add_timer(
             std::string("Failed to notify wait set on timer creation: ") +
             rmw_get_error_string().str);
   }
+  TRACEPOINT(
+    rclcpp_timer_link_node,
+    static_cast<const void *>(timer->get_timer_handle().get()),
+    static_cast<const void *>(node_base_->get_rcl_node_handle()));
 }

Original file line number	Diff line number	Diff line change
`@@ -16,6 +16,8 @@`
`16`	`16`
`17`	`17`	`#include <string>`
`18`	`18`
	`19`	`+#include "tracetools/tracetools.h"`
	`20`	`+`
`19`	`21`	`using rclcpp::node_interfaces::NodeTimers;`
`20`	`22`
`21`	`23`	`NodeTimers::NodeTimers(rclcpp::node_interfaces::NodeBaseInterface * node_base)`
`@@ -44,4 +46,8 @@ NodeTimers::add_timer(`
`44`	`46`	`std::string("Failed to notify wait set on timer creation: ") +`
`45`	`47`	`rmw_get_error_string().str);`
`46`	`48`	`}`
	`49`	`+ TRACEPOINT(`
	`50`	`+ rclcpp_timer_link_node,`
	`51`	`+ static_cast<const void *>(timer->get_timer_handle().get()),`
	`52`	`+ static_cast<const void *>(node_base_->get_rcl_node_handle()));`
`47`	`53`	`}`