Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

feat(hooked_trace_point.cpp): add tracepoint to cyclonedds for serialized_publish #228

Merged
merged 7 commits into from
Nov 14, 2023
Merged

feat(hooked_trace_point.cpp): add tracepoint to cyclonedds for serialized_publish #228

Changes from all commits
Commits
Show all changes
7 commits
Select commit Hold shift + click to select a range
a87a9b9
add tracepoint to cyclonedds for serialized_publish
ymski Oct 27, 2023
40f5e4b
ci(pre-commit): autofix
pre-commit-ci[bot] Oct 27, 2023
32d6367
ignore cspell check
ymski Oct 30, 2023
820baf9
store message addres in thread local memory
ymski Oct 31, 2023
96d8481
ci(pre-commit): autofix
pre-commit-ci[bot] Oct 31, 2023
c3eb33e
Update CARET_trace/src/hooked_trace_points.cpp
ymski Nov 1, 2023
5c47648
Update CARET_trace/src/hooked_trace_points.cpp
ymski Nov 1, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
44 changes: 43 additions & 1 deletion CARET_trace/src/hooked_trace_points.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,7 @@

// #define DEBUG_OUTPUT

#include "dds/ddsi/ddsi_serdata.h"
#include "fastdds/rtps/common/CacheChange.h"

#define STRINGIFY_(s) #s
Expand All @@ -48,15 +49,18 @@
#define SYMBOL_CONCAT_2(x, y) x##y
#define SYMBOL_CONCAT_3(x, y, z) x##y##z

static thread_local const void * serialized_message_addr;
extern thread_local bool trace_filter_is_rcl_publish_recorded;

// Declare a prototype in order to use the functions implemented in cyclonedds.
rmw_ret_t rmw_get_gid_for_publisher(const rmw_publisher_t * publisher, rmw_gid_t * gid);

// cspell: ignore WRITECDR
namespace CYCLONEDDS
{
void * DDS_WRITE_IMPL;
}
void * DDS_WRITECDR_IMPL;
} // namespace CYCLONEDDS

// For FastDDS
namespace FASTDDS
Expand Down Expand Up @@ -206,6 +210,7 @@
// clang-format on
} else if (env_var == "rmw_cyclonedds_cpp") {
CYCLONEDDS::DDS_WRITE_IMPL = lib->get_symbol("dds_write_impl");
CYCLONEDDS::DDS_WRITECDR_IMPL = lib->get_symbol("dds_writecdr_impl");
}
}

Expand Down Expand Up @@ -233,6 +238,30 @@
return dds_return;
}

// for cyclonedds
// bind : &ros_message -> source_timestamp
// cspell: ignore ddsi, serdata, dinp
int dds_writecdr_impl(void * wr, void * xp, struct ddsi_serdata * dinp, bool flush) // NOLINT
isp-uetsuki marked this conversation as resolved.
Show resolved Hide resolved
{
static auto & context = Singleton<Context>::get_instance();
using functionT = int (*)(void *, void *, struct ddsi_serdata *, bool); // NOLINT

// clang-format on
if (CYCLONEDDS::DDS_WRITECDR_IMPL == nullptr) {
update_dds_function_addr();
}
int dds_return = ((functionT)CYCLONEDDS::DDS_WRITECDR_IMPL)(wr, xp, dinp, flush);

if (context.is_recording_allowed()) {
tracepoint(
TRACEPOINT_PROVIDER, dds_bind_addr_to_stamp, serialized_message_addr, dinp->timestamp.v);
#ifdef DEBUG_OUTPUT
std::cerr << "dds_bind_addr_to_stamp," << data << "," << tstamp << std::endl;
#endif
}
return dds_return;
}

// for fastdds
// bind : &ros_message -> source_timestamp
void _ZN8eprosima8fastrtps4rtps13WriterHistory13set_fragmentsEPNS1_13CacheChange_tE(
Expand All @@ -254,8 +283,21 @@
}
}

// for rmw_cyclonedds_cpp
// store message address in tread local memory
rmw_ret_t rmw_publish_serialized_message(
const rmw_publisher_t * publisher, const rmw_serialized_message_t * serialized_message,
rmw_publisher_allocation_t * allocation)
{
serialized_message_addr = static_cast<const void *>(serialized_message);
using functionT = rmw_ret_t (*)(const void *, const void *, const void *);
static void * orig_func = dlsym(RTLD_NEXT, __func__);
rmw_ret_t ret = ((functionT)orig_func)(publisher, serialized_message, allocation);
return ret;
}

// rclcpp::executors::SingleThreadedExecutor::SingleThreadedExecutor(rclcpp::ExecutorOptions const&)
void _ZN6rclcpp9executors22SingleThreadedExecutorC1ERKNS_15ExecutorOptionsE(

Check warning on line 300 in CARET_trace/src/hooked_trace_points.cpp

View workflow job for this annotation

GitHub Actions / spell-check-differential 

Unknown word (ERKNS)
void * obj, const void * option)
{
static void * orig_func = dlsym(RTLD_NEXT, __func__);
Expand Down Expand Up @@ -288,7 +330,7 @@
// std::chrono::duration<long, std::ratio<1l, 1000000000l> >)
void SYMBOL_CONCAT_2(
_ZN6rclcpp9executors21MultiThreadedExecutor,
C1ERKNS_15ExecutorOptionsEmbNSt6chrono8durationIlSt5ratioILl1ELl1000000000EEEE)(

Check warning on line 333 in CARET_trace/src/hooked_trace_points.cpp

View workflow job for this annotation

GitHub Actions / spell-check-differential 

Unknown word (ERKNS)
void * obj, const void * option, size_t number_of_thread, bool yield_before_execute,
const void * timeout)
{
Expand Down Expand Up @@ -319,7 +361,7 @@

// rclcpp::executors::StaticSingleThreadedExecutor::StaticSingleThreadedExecutor(
// rclcpp::ExecutorOptions const&)
void _ZN6rclcpp9executors28StaticSingleThreadedExecutorC1ERKNS_15ExecutorOptionsE(

Check warning on line 364 in CARET_trace/src/hooked_trace_points.cpp

View workflow job for this annotation

GitHub Actions / spell-check-differential 

Unknown word (ERKNS)
void * obj, const void * option)
{
static void * orig_func = dlsym(RTLD_NEXT, __func__);
Expand Down Expand Up @@ -423,7 +465,7 @@
bool SYMBOL_CONCAT_3(
_ZN6rclcpp9executors31StaticExecutorEntitiesCollector18add_callback_groupESt10shared_ptr,
INS_13CallbackGroupEES2_INS_15node_interfaces17NodeBaseInterface,
EERSt3mapISt8weak_ptrIS3_ES9_IS6_ESt10owner_lessISA_ESaISt4pairIKSA_SB_EEE)(

Check warning on line 468 in CARET_trace/src/hooked_trace_points.cpp

View workflow job for this annotation

GitHub Actions / spell-check-differential 

Unknown word (IKSA)
void * obj, rclcpp::CallbackGroup::SharedPtr group_ptr,
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
Expand Down
Loading