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

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merged 7 commits into from
Nov 14, 2023
Merged

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

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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
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44 changes: 43 additions & 1 deletion CARET_trace/src/hooked_trace_points.cpp
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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

thread_local const void * serialized_message_addr;
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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
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{
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 = int (*)(const void *, const void *, const void *);
static void * orig_func = dlsym(RTLD_NEXT, __func__);
int dds_return = ((functionT)orig_func)(publisher, serialized_message, allocation);
return dds_return;
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}

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

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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)(

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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(

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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)(

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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
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