fixed

Signed-off-by: ISP akm <[email protected]>

CARET_trace/src/hooked_trace_points.cpp

@@ -189,17 +189,19 @@ void update_dds_function_addr()
       "Could not load library %s: %s", library_name.c_str(), e.what());
   }
 
-  static auto record = [](const char * rmw_implementation, int64_t init_time) {
-    tracepoint(TRACEPOINT_PROVIDER, rmw_implementation, rmw_implementation, init_time);
-  };
+  if (context.get_controller().is_allowed_process()) {
+    static auto record = [](const char * rmw_implementation, int64_t init_time) {
+      tracepoint(TRACEPOINT_PROVIDER, rmw_implementation, rmw_implementation, init_time);
+    };
 
-  if (!data_container.is_assigned_rmw_implementation()) {
-    data_container.assign_rmw_implementation(record);
-  }
+    if (!data_container.is_assigned_rmw_implementation()) {
+      data_container.assign_rmw_implementation(record);
+    }
 
-  data_container.store_rmw_implementation(env_var.c_str(), now);
+    data_container.store_rmw_implementation(env_var.c_str(), now);
 
-  record(env_var.c_str(), now);
+    record(env_var.c_str(), now);
+  }
 
   if (env_var == "rmw_fastrtps_cpp") {
     // clang-format off

CARET_trace/src/ros_trace_points.cpp

@@ -244,10 +244,6 @@ void ros_trace_rcl_node_init(
     static auto & context = Singleton<Context>::get_instance();
     static auto & controller = context.get_controller();
 
-    if (!controller.is_allowed_process()) {
-      return;
-    }
-
     if (!controller.is_allowed_node(node_handle)) {
       return;
     }
@@ -262,6 +258,10 @@ void ros_trace_rcl_node_init(
 #endif
   };
 
+  if (!controller.is_allowed_process()) {
+    return;
+  }
+
   auto now = clock.now();
 
   check_and_run_trace_node();
@@ -307,10 +307,6 @@ void ros_trace_rcl_subscription_init(
     static auto & context = Singleton<Context>::get_instance();
     static auto & controller = context.get_controller();
 
-    if (!controller.is_allowed_process()) {
-      return;
-    }
-
     if (!controller.is_allowed_subscription_handle(subscription_handle)) {
       return;
     }
@@ -326,6 +322,10 @@ void ros_trace_rcl_subscription_init(
 #endif
   };
 
+  if (!controller.is_allowed_process()) {
+    return;
+  }
+
   auto now = clock.now();
 
   controller.add_subscription_handle(node_handle, subscription_handle, topic_name);
@@ -359,11 +359,6 @@ void ros_trace_rclcpp_subscription_init(
   ) {
     static auto & context = Singleton<Context>::get_instance();
     static auto & controller = context.get_controller();
-
-    if (!controller.is_allowed_process()) {
-      return;
-    }
-
     if (!controller.is_allowed_subscription_handle(subscription_handle)){
       return;
     }
@@ -376,6 +371,10 @@ void ros_trace_rclcpp_subscription_init(
 #endif
   };
 
+  if (!controller.is_allowed_process()) {
+    return;
+  }
+
   auto now = clock.now();
   check_and_run_trace_node();
 
@@ -404,11 +403,6 @@ void ros_trace_rclcpp_subscription_callback_added(
     const void * callback,
     int64_t init_time
   ) {
-
-    if (!controller.is_allowed_process()) {
-      return;
-    }
-
     if (!controller.is_allowed_callback(callback)) {
       return;
     }
@@ -421,6 +415,10 @@ void ros_trace_rclcpp_subscription_callback_added(
 #endif
   };
 
+  if (!controller.is_allowed_process()) {
+    return;
+  }
+
   auto now = clock.now();
   check_and_run_trace_node();
 
@@ -447,11 +445,6 @@ void ros_trace_rclcpp_timer_callback_added(const void * timer_handle, const void
     const void * callback,
     int64_t init_time
   ) {
-
-  if (!controller.is_allowed_process()) {
-    return;
-  }
-
   if (!controller.is_allowed_callback(callback)) {
     return;
   }
@@ -463,6 +456,10 @@ void ros_trace_rclcpp_timer_callback_added(const void * timer_handle, const void
 #endif
   };
 
+  if (!controller.is_allowed_process()) {
+    return;
+  }
+
   auto now = clock.now();
   check_and_run_trace_node();
 
@@ -487,11 +484,6 @@ void ros_trace_rclcpp_timer_link_node(const void * timer_handle, const void * no
     const void * node_handle,
     int64_t init_time
   ) {
-
-  if (!controller.is_allowed_process()) {
-    return;
-  }
-
   if (!controller.is_allowed_node(node_handle)) {
     return;
   }
@@ -503,6 +495,10 @@ void ros_trace_rclcpp_timer_link_node(const void * timer_handle, const void * no
 #endif
   };
 
+  if (!controller.is_allowed_process()) {
+    return;
+  }
+
   auto now = clock.now();
   check_and_run_trace_node();
 
@@ -724,12 +720,11 @@ void ros_trace_rcl_init(
     tracepoint(TRACEPOINT_PROVIDER, rcl_init, context_handle, init_time);
   };
 
-  auto now = clock.now();
-
   if (!context.get_controller().is_allowed_process()) {
     return;
   }
 
+  auto now = clock.now();
   if (!data_container.is_assigned_rcl_init()) {
     data_container.assign_rcl_init(record);
   }
@@ -767,16 +762,16 @@ void ros_trace_rcl_publisher_init(
     rmw_publisher_handle, topic_name, queue_depth, init_time);
   };
 
+  if (!controller.is_allowed_process()) {
+    return;
+  }
+
   auto now = clock.now();
   controller.add_publisher_handle(node_handle, publisher_handle, topic_name);
 
   // TODO(hsgwa): support topic_name filtering
   // It seems to be executed before the topic name and node name are known.
 
-  if (!controller.is_allowed_process()) {
-    return;
-  }
-
   if (!data_container.is_assigned_rcl_publisher_init()) {
     data_container.assign_rcl_publisher_init(record);
   }
@@ -855,12 +850,12 @@ void ros_trace_rcl_service_init(
 #endif
   };
 
-  auto now = clock.now();
-
   if (!context.get_controller().is_allowed_process()) {
     return;
   }
 
+  auto now = clock.now();
+
   if (!data_container.is_assigned_rcl_service_init()) {
     data_container.assign_rcl_service_init(record);
   }
@@ -889,12 +884,13 @@ void ros_trace_rclcpp_service_callback_added(
       callback << std::endl;
 #endif
   };
-  auto now = clock.now();
 
   if (!context.get_controller().is_allowed_process()) {
     return;
   }
 
+  auto now = clock.now();
+
   check_and_run_trace_node();
 
   if (!data_container.is_assigned_rclcpp_service_callback_added()) {
@@ -930,12 +926,13 @@ void ros_trace_rcl_client_init(
       service_name << std::endl;
 #endif
   };
-  auto now = clock.now();
 
   if (!context.get_controller().is_allowed_process()) {
     return;
   }
 
+  auto now = clock.now();
+
   if (!data_container.is_assigned_rcl_client_init()) {
     data_container.assign_rcl_client_init(record);
   }
@@ -974,12 +971,13 @@ void ros_trace_rclcpp_callback_register(
       symbol << std::endl;
 #endif
   };
-  auto now = clock.now();
 
   if (!context.get_controller().is_allowed_process()) {
     return;
   }
 
+  auto now = clock.now();
+
   check_and_run_trace_node();
 
   if (!data_container.is_assigned_rclcpp_callback_register()) {
@@ -1024,12 +1022,13 @@ void ros_trace_do_rclcpp_callback_register(
       symbol << std::endl;
 #endif
   };
-  auto now = clock.now();
 
   if (!context.get_controller().is_allowed_process()) {
     return;
   }
 
+  auto now = clock.now();
+
   check_and_run_trace_node();
 
   if (!data_container.is_assigned_rclcpp_callback_register()) {
@@ -1060,12 +1059,13 @@ void ros_trace_rcl_lifecycle_state_machine_init(
       state_machine << std::endl;
 #endif
   };
-  auto now = clock.now();
 
   if (!context.get_controller().is_allowed_process()) {
     return;
   }
 
+  auto now = clock.now();
+
   check_and_run_trace_node();
 
   record(node_handle, state_machine, now);
@@ -1269,12 +1269,12 @@ void ros_trace_rclcpp_buffer_to_ipb(
 #endif
   };
 
-  auto now = clock.now();
-
   if (!controller.is_allowed_process()) {
     return;
   }
 
+  auto now = clock.now();
+
   if (!data_container.is_assigned_rclcpp_buffer_to_ipb()){
     data_container.assign_rclcpp_buffer_to_ipb(record);
   }
@@ -1311,12 +1311,12 @@ void ros_trace_rclcpp_ipb_to_subscription(
 #endif
   };
 
-  auto now = clock.now();
-
   if (!controller.is_allowed_process()) {
     return;
   }
 
+  auto now = clock.now();
+
   if (!data_container.is_assigned_rclcpp_ipb_to_subscription()){
     data_container.assign_rclcpp_ipb_to_subscription(record);
   }
@@ -1350,12 +1350,12 @@ void ros_trace_rclcpp_construct_ring_buffer(
 #endif
   };
 
-  auto now = clock.now();
-
   if (!context.get_controller().is_allowed_process()) {
     return;
   }
 
+  auto now = clock.now();
+
   if (!data_container.is_assigned_rclcpp_construct_ring_buffer()) {
     data_container.assign_rclcpp_construct_ring_buffer(record);
   }

CARET_trace/src/trace_node.cpp

@@ -181,6 +181,10 @@ void TraceNode::start_callback(caret_msgs::msg::Start::UniquePtr msg)
 
   debug("Received start message.");
 
+  if (!context.get_controller().is_allowed_process()) {
+    return;
+  }
+
   // As long as PREPARE state, data of initialization trace point are stored into pending.
   // Before calling the caret_init trace point,
   // transition to the prepare state to set is_recording_allowed to False.

CARET_trace/src/tracing_controller.cpp

@@ -441,13 +441,15 @@ bool TracingController::is_allowed_buffer(const void * buffer)
 bool TracingController::is_allowed_process()
 {
   if (ignore_enabled_) {
-    auto is_ignored_process = partial_match(ignored_process_names_, std::string(program_invocation_short_name));
+    auto is_ignored_process = partial_match(
+      ignored_process_names_,
+      std::string(program_invocation_short_name)
+    );
     if (is_ignored_process && ignored_process_names_.size() > 0) {
-      RCLCPP_DEBUG(rclcpp::get_logger("caret"), program_invocation_short_name);
       return false;
     }
-    return true;
   }
+  return true;
 }
 
 std::string TracingController::to_node_name(const void * callback)