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Add publishing instrumentation using tracetools #324

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Add publishing instrumentation using tracetools #324

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2 changes: 2 additions & 0 deletions rmw_cyclonedds_cpp/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,7 @@ find_package(ament_cmake_ros REQUIRED)

find_package(rcutils REQUIRED)
find_package(rcpputils REQUIRED)
find_package(tracetools REQUIRED)

#find_package(cyclonedds_cmake_module REQUIRED)
find_package(CycloneDDS QUIET CONFIG)
Expand Down Expand Up @@ -77,6 +78,7 @@ ament_target_dependencies(rmw_cyclonedds_cpp
"rmw"
"rmw_dds_common"
"rosidl_runtime_c"
"tracetools"
)

configure_rmw_library(rmw_cyclonedds_cpp)
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1 change: 1 addition & 0 deletions rmw_cyclonedds_cpp/package.xml
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Expand Up @@ -18,6 +18,7 @@
<depend>rosidl_runtime_c</depend>
<depend>rosidl_typesupport_introspection_c</depend>
<depend>rosidl_typesupport_introspection_cpp</depend>
<depend>tracetools</depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
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3 changes: 3 additions & 0 deletions rmw_cyclonedds_cpp/src/rmw_node.cpp
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Expand Up @@ -75,6 +75,8 @@

#include "rosidl_typesupport_cpp/message_type_support.hpp"

#include "tracetools/tracetools.h"

#include "namespace_prefix.hpp"

#include "dds/dds.h"
Expand Down Expand Up @@ -1543,6 +1545,7 @@ extern "C" rmw_ret_t rmw_publish(
return RMW_RET_INVALID_ARGUMENT);
auto pub = static_cast<CddsPublisher *>(publisher->data);
assert(pub);
TRACEPOINT(rmw_publish, static_cast<const void *>(publisher), ros_message);
if (dds_write(pub->enth, ros_message) >= 0) {
return RMW_RET_OK;
} else {
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