feat: add tracepoints definition compatible to caret v0.2

Signed-off-by: hsgwa <[email protected]>

Author: hsgwa

tracetools/include/tracetools/tp_call.h

@@ -100,10 +100,14 @@ TRACEPOINT_EVENT(
   TRACEPOINT_PROVIDER,
   rclcpp_publish,
   TP_ARGS(
-    const void *, message_arg
+    const void *, publisher_handle_arg,
+    const void *, message_arg,
+    const uint64_t, message_timestamp_arg
   ),
   TP_FIELDS(
+    ctf_integer_hex(const void *, publisher_handle, publisher_handle_arg)
     ctf_integer_hex(const void *, message, message_arg)
+    ctf_integer(const uint64_t, message_timestamp, message_timestamp_arg)
   )
 )
 
@@ -408,6 +412,66 @@ TRACEPOINT_EVENT(
   )
 )
 
+TRACEPOINT_EVENT(
+  TRACEPOINT_PROVIDER,
+  message_construct,
+  TP_ARGS(
+    const void *, original_message_arg,
+    const void *, constructed_message_arg
+  ),
+  TP_FIELDS(
+    ctf_integer_hex(const void *, original_message, original_message_arg)
+    ctf_integer_hex(const void *, constructed_message, constructed_message_arg)
+  )
+)
+
+TRACEPOINT_EVENT(
+  TRACEPOINT_PROVIDER,
+  rclcpp_intra_publish,
+  TP_ARGS(
+    const void *, publisher_handle_arg,
+    const void *, message_arg,
+    const uint64_t, message_timestamp_arg
+  ),
+  TP_FIELDS(
+    ctf_integer_hex(const void *, publisher_handle, publisher_handle_arg)
+    ctf_integer_hex(const void *, message, message_arg)
+    ctf_integer(const uint64_t, message_timestamp, message_timestamp_arg)
+  )
+)
+
+TRACEPOINT_EVENT(
+  TRACEPOINT_PROVIDER,
+  dispatch_subscription_callback,
+  TP_ARGS(
+    const void *, message_arg,
+    const void *, callback_arg,
+    const uint64_t, source_timestamp_arg,
+    const uint64_t, message_timestamp_arg
+  ),
+  TP_FIELDS(
+    ctf_integer_hex(const void *, message, message_arg)
+    ctf_integer_hex(const void *, callback, callback_arg)
+    ctf_integer(const uint64_t, source_stamp, source_timestamp_arg)
+    ctf_integer(const uint64_t, message_timestamp, message_timestamp_arg)
+  )
+)
+
+TRACEPOINT_EVENT(
+  TRACEPOINT_PROVIDER,
+  dispatch_intra_process_subscription_callback,
+  TP_ARGS(
+    const void *, message_arg,
+    const void *, callback_arg,
+    const uint64_t, message_timestamp_arg
+  ),
+  TP_FIELDS(
+    ctf_integer_hex(const void *, message, message_arg)
+    ctf_integer_hex(const void *, callback, callback_arg)
+    ctf_integer(const uint64_t, message_timestamp, message_timestamp_arg)
+  )
+)
+
 #endif  // _TRACETOOLS__TP_CALL_H_
 
 #include <lttng/tracepoint-event.h>

tracetools/include/tracetools/tracetools.h

@@ -163,11 +163,13 @@ DECLARE_TRACEPOINT(
  *
  * \param[in] publisher_handle not used, but kept for API/ABI stability
  * \param[in] message pointer to the message being published
+ * \param[in] timestamp of message header
  */
 DECLARE_TRACEPOINT(
   rclcpp_publish,
   const void * publisher_handle,
-  const void * message)
+  const void * message,
+  const uint64_t message_timestamp)
 
 /// `rcl_publish`
 /**
@@ -482,6 +484,30 @@ DECLARE_TRACEPOINT(
   rclcpp_executor_execute,
   const void * handle)
 
+DECLARE_TRACEPOINT(
+  message_construct,
+  const void * original_message,
+  const void * constructed_message)
+
+DECLARE_TRACEPOINT(
+  rclcpp_intra_publish,
+  const void * publisher_handle,
+  const void * message,
+  const uint64_t message_timestamp)
+
+DECLARE_TRACEPOINT(
+  dispatch_subscription_callback,
+  const void * message,
+  const void * callback,
+  const uint64_t source_timestamp,
+  const uint64_t message_timestamp)
+
+DECLARE_TRACEPOINT(
+  dispatch_intra_process_subscription_callback,
+  const void * message,
+  const void * callback,
+  const uint64_t message_timestamp)
+
 #ifdef __cplusplus
 }
 #endif

tracetools/src/tracetools.c

@@ -97,12 +97,14 @@ void TRACEPOINT(
 void TRACEPOINT(
   rclcpp_publish,
   const void * publisher_handle,
-  const void * message)
+  const void * message,
+  const uint64_t message_timestamp)
 {
-  (void)publisher_handle;
   CONDITIONAL_TP(
     rclcpp_publish,
-    message);
+    publisher_handle,
+    message,
+    message_timestamp);
 }
 
 void TRACEPOINT(
@@ -362,6 +364,59 @@ void TRACEPOINT(
     handle);
 }
 
+void TRACEPOINT(
+  message_construct,
+  const void * original_message,
+  const void * constructed_message)
+{
+  CONDITIONAL_TP(
+    message_construct,
+    original_message,
+    constructed_message);
+}
+
+void TRACEPOINT(
+  rclcpp_intra_publish,
+  const void * publisher_handle,
+  const void * message,
+  const uint64_t message_timestamp
+  )
+{
+  CONDITIONAL_TP(
+    rclcpp_intra_publish,
+    publisher_handle,
+    message,
+    message_timestamp);
+}
+
+void TRACEPOINT(
+  dispatch_subscription_callback,
+  const void * message,
+  const void * callback,
+  const uint64_t source_stamp,
+  const uint64_t message_timestamp)
+{
+  CONDITIONAL_TP(
+    dispatch_subscription_callback,
+    message,
+    callback,
+    source_stamp,
+    message_timestamp);
+}
+
+void TRACEPOINT(
+  dispatch_intra_process_subscription_callback,
+  const void * message,
+  const void * callback,
+  const uint64_t message_timestamp)
+{
+  CONDITIONAL_TP(
+    dispatch_intra_process_subscription_callback,
+    message,
+    callback,
+    message_timestamp);
+}
+
 #ifndef _WIN32
 # pragma GCC diagnostic pop
 #else