tracetools.h File Reference

#include <stdint.h>
#include <string.h>
#include <stdbool.h>
#include "tracetools/config.h"
#include "tracetools/visibility_control.hpp"

Include dependency graph for tracetools.h:

Go to the source code of this file.

Macros
#define	TRACEPOINT(event_name, ...)   (ros_trace_ ## event_name)(__VA_ARGS__)
	Call a tracepoint. More...

Functions
bool	ros_trace_compile_status ()
	Get tracing compilation status. More...
void	ros_trace_rcl_init (const void *context_handle)
	rcl_init More...
void	ros_trace_rcl_node_init (const void *node_handle, const void *rmw_handle, const char *node_name, const char *node_namespace)
	rcl_node_init More...
void	ros_trace_rcl_publisher_init (const void *publisher_handle, const void *node_handle, const void *rmw_publisher_handle, const char *topic_name, const size_t queue_depth)
	rcl_publisher_init More...
void	ros_trace_rcl_publish (const void *publisher_handle, const void *message)
	rcl_publish More...
void	ros_trace_rclcpp_publish (const void *publisher_handle, const void *message)
	rclcpp_publish More...
void	ros_trace_rcl_subscription_init (const void *subscription_handle, const void *node_handle, const void *rmw_subscription_handle, const char *topic_name, const size_t queue_depth)
	rcl_subscription_init More...
void	ros_trace_rclcpp_subscription_init (const void *subscription_handle, const void *subscription)
	rclcpp_subscription_init More...
void	ros_trace_rclcpp_subscription_callback_added (const void *subscription, const void *callback)
	rclcpp_subscription_callback_added More...
void	ros_trace_rcl_service_init (const void *service_handle, const void *node_handle, const void *rmw_service_handle, const char *service_name)
	rcl_service_init More...
void	ros_trace_rclcpp_service_callback_added (const void *service_handle, const void *callback)
	rclcpp_service_callback_added More...
void	ros_trace_rcl_client_init (const void *client_handle, const void *node_handle, const void *rmw_client_handle, const char *service_name)
	rcl_client_init More...
void	ros_trace_rcl_timer_init (const void *timer_handle, int64_t period)
	rcl_timer_init More...
void	ros_trace_rclcpp_timer_callback_added (const void *timer_handle, const void *callback)
	rclcpp_timer_callback_added More...
void	ros_trace_rclcpp_timer_link_node (const void *timer_handle, const void *node_handle)
	rclcpp_timer_link_node More...
void	ros_trace_rclcpp_callback_register (const void *callback, const char *function_symbol)
	rclcpp_callback_register More...
void	ros_trace_callback_start (const void *callback, const bool is_intra_process)
	callback_start More...
void	ros_trace_callback_end (const void *callback)
	callback_end More...
void	ros_trace_rcl_lifecycle_state_machine_init (const void *node_handle, const void *state_machine)
	rcl_lifecycle_state_machine_init More...
void	ros_trace_rcl_lifecycle_transition (const void *state_machine, const char *start_label, const char *goal_label)
	rcl_lifecycle_transition More...

Macro Definition Documentation

TRACEPOINT

#define TRACEPOINT	(		event_name,
			...
	)		(ros_trace_ ## event_name)(__VA_ARGS__)

Call a tracepoint.

This is the preferred method over calling the actual function directly.

Function Documentation

ros_trace_compile_status()

bool ros_trace_compile_status

(

)

Get tracing compilation status.

Returns

true if tracing is enabled, false otherwise

ros_trace_rcl_init()

void ros_trace_rcl_init

(

const void *

context_handle

)

rcl_init

Initialisation for the whole process. Notes the tracetools version automatically.

Parameters

[in]

context_handle

pointer to the rcl_context_t handle

ros_trace_rcl_node_init()

void ros_trace_rcl_node_init	(	const void *	node_handle,
		const void *	rmw_handle,
		const char *	node_name,
		const char *	node_namespace
	)

rcl_node_init

Node initialisation. Links a rcl_node_t handle to its rmw_node_t handle.

Parameters

[in]	node_handle	pointer to the node's rcl_node_t handle
[in]	rmw_handle	pointer to the node's rmw_node_t handle
[in]	node_name	node name
[in]	node_namespace	node namespace

ros_trace_rcl_publisher_init()

void ros_trace_rcl_publisher_init	(	const void *	publisher_handle,
		const void *	node_handle,
		const void *	rmw_publisher_handle,
		const char *	topic_name,
		const size_t	queue_depth
	)

rcl_publisher_init

Publisher initialisation. Links a rcl_publisher_t handle to its rcl_node_t handle and its rmw_publisher_t handle, and links it to a topic name.

Parameters

[in]	publisher_handle	pointer to the publisher's rcl_publisher_t handle
[in]	node_handle	pointer to the rcl_node_t handle of the node the publisher belongs to
[in]	rmw_publisher_handle	pointer to the publisher's rmw_publisher_t handle
[in]	topic_name	full topic name
[in]	queue_depth	publisher history depth

ros_trace_rcl_publish()

void ros_trace_rcl_publish	(	const void *	publisher_handle,
		const void *	message
	)

rcl_publish

Message publication. Links a rcl_publisher_t handle to a pointer to a message being published at the rcl level.

Parameters

[in]	publisher_handle	pointer to the publisher's rcl_publisher_t handle
[in]	message	pointer to the message being published

ros_trace_rclcpp_publish()

void ros_trace_rclcpp_publish	(	const void *	publisher_handle,
		const void *	message
	)

rclcpp_publish

Message publication. Links a rcl_publisher_t handle to a pointer to a message being published at the rclcpp level.

Parameters

[in]	publisher_handle	pointer to the publisher's rcl_publisher_t handle
[in]	message	pointer to the message being published

ros_trace_rcl_subscription_init()

void ros_trace_rcl_subscription_init	(	const void *	subscription_handle,
		const void *	node_handle,
		const void *	rmw_subscription_handle,
		const char *	topic_name,
		const size_t	queue_depth
	)

rcl_subscription_init

Subscription initialisation. Links a rcl_subscription_t handle to its rcl_node_t handle and its rmw_subscription_t handle, and links it to a topic name.

Parameters

[in]	subscription_handle	pointer to the subscription's rcl_subscription_t handle
[in]	node_handle	pointer to the rcl_node_t handle of the node the subscription belongs to
[in]	rmw_subscription_handle	pointer to the subscription's rmw_subscription_t handle
[in]	topic_name	full topic name
[in]	queue_depth	subscription history depth

ros_trace_rclcpp_subscription_init()

void ros_trace_rclcpp_subscription_init	(	const void *	subscription_handle,
		const void *	subscription
	)

rclcpp_subscription_init

Subscription object initialisation. Links the rclcpp::*Subscription* object to a rcl_subscription_t handle. Needed since there could be more than 1 rclcpp::*Subscription* object for one rcl subscription (e.g. when using intra-process).

Parameters

[in]	subscription_handle	pointer to the rcl_subscription_t handle of the subscription this object belongs to
[in]	subscription	pointer to this subscription object (e.g. rclcpp::*Subscription*)

ros_trace_rclcpp_subscription_callback_added()

void ros_trace_rclcpp_subscription_callback_added	(	const void *	subscription,
		const void *	callback
	)

rclcpp_subscription_callback_added

Link a subscription callback object to a subscription object.

Parameters

[in]	subscription	pointer to the subscription object this callback belongs to
[in]	callback	pointer to this callback object (e.g. rclcpp::AnySubscriptionCallback)

ros_trace_rcl_service_init()

void ros_trace_rcl_service_init	(	const void *	service_handle,
		const void *	node_handle,
		const void *	rmw_service_handle,
		const char *	service_name
	)

rcl_service_init

Service initialisation. Links a rcl_service_t handle to its rcl_node_t handle and its rmw_service_t handle, and links it to a service name.

Parameters

[in]	service_handle	pointer to the service's rcl_service_t handle
[in]	node_handle	pointer to the rcl_node_t handle of the node the service belongs to
[in]	rmw_service_handle	pointer to the service's rmw_service_t handle
[in]	service_name	full service name

ros_trace_rclcpp_service_callback_added()

void ros_trace_rclcpp_service_callback_added	(	const void *	service_handle,
		const void *	callback
	)

rclcpp_service_callback_added

Link a service callback object to a service.

Parameters

[in]	service_handle	pointer to the rcl_service_t handle of the service this callback belongs to
[in]	callback	pointer to this callback object (e.g. rclcpp::AnyServiceCallback)

ros_trace_rcl_client_init()

void ros_trace_rcl_client_init	(	const void *	client_handle,
		const void *	node_handle,
		const void *	rmw_client_handle,
		const char *	service_name
	)

rcl_client_init

Client initialisation. Links a rcl_client_t handle to its rcl_node_t handle and its rmw_client_t handle, and links it to a client name.

Parameters

[in]	client_handle	pointer to the client's rcl_client_t handle
[in]	node_handle	pointer to the rcl_node_t handle of the node the client belongs to
[in]	rmw_client_handle	pointer to the client's rmw_client_t handle
[in]	service_name	full client name

ros_trace_rcl_timer_init()

void ros_trace_rcl_timer_init	(	const void *	timer_handle,
		int64_t	period
	)

rcl_timer_init

Timer initialisation. Notes the timer's period.

Parameters

[in]	timer_handle	pointer to the timer's rcl_timer_t handle
[in]	period	period in nanoseconds

ros_trace_rclcpp_timer_callback_added()

void ros_trace_rclcpp_timer_callback_added	(	const void *	timer_handle,
		const void *	callback
	)

rclcpp_timer_callback_added

Link a timer callback object to its rcl_timer_t handle.

Parameters

[in]	timer_handle	pointer to the rcl_timer_t handle of the timer this callback belongs to
[in]	callback	pointer to the callback object (std::function)

ros_trace_rclcpp_timer_link_node()

void ros_trace_rclcpp_timer_link_node	(	const void *	timer_handle,
		const void *	node_handle
	)

rclcpp_timer_link_node

Link a timer to a node.

Parameters

[in]	timer_handle	pointer to the timer's rcl_timer_t handle
[in]	node_handle	pointer to the rcl_node_t handle of the node the timer belongs to

ros_trace_rclcpp_callback_register()

void ros_trace_rclcpp_callback_register	(	const void *	callback,
		const char *	function_symbol
	)

rclcpp_callback_register

Register a demangled function symbol with a callback.

Parameters

[in]	callback	pointer to the callback object (e.g. rclcpp::AnySubscriptionCallback, rclcpp::AnyServiceCallback, timer std::function, etc.)
[in]	function_symbol	demangled symbol of the callback function/lambda, see get_symbol()

ros_trace_callback_start()

void ros_trace_callback_start	(	const void *	callback,
		const bool	is_intra_process
	)

callback_start

Start of a callback.

Parameters

[in]	callback	pointer to this callback object (e.g. rclcpp::AnySubscriptionCallback, rclcpp::AnyServiceCallback, timer std::function, etc.)
[in]	is_intra_process	whether this callback is done via intra-process or not

ros_trace_callback_end()

void ros_trace_callback_end

(

const void *

callback

)

callback_end

End of a callback.

Parameters

[in]

callback

pointer to this callback object (e.g. rclcpp::AnySubscriptionCallback, rclcpp::AnyServiceCallback, timer std::function, etc.)

ros_trace_rcl_lifecycle_state_machine_init()

void ros_trace_rcl_lifecycle_state_machine_init	(	const void *	node_handle,
		const void *	state_machine
	)

rcl_lifecycle_state_machine_init

Lifecycle state machine initialisation. Links a rcl_lifecycle_state_machine_t handle to a rcl_node_t handle.

Parameters

[in]	node_handle	pointer to the node handle
[in]	state_machine	pointer to the state machine

ros_trace_rcl_lifecycle_transition()

void ros_trace_rcl_lifecycle_transition	(	const void *	state_machine,
		const char *	start_label,
		const char *	goal_label
	)

rcl_lifecycle_transition

Lifecycle transition between two states.

Parameters

[in]	state_machine	pointer to the state machine for the transition
[in]	start_label	start state label
[in]	goal_label	goal state label