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Add timestamp to rmw_publish tracepoint #694

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merged 1 commit into from
Jan 23, 2024
Merged

Add timestamp to rmw_publish tracepoint #694

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17 changes: 13 additions & 4 deletions rmw_fastrtps_shared_cpp/src/rmw_publish.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,8 @@
#include "fastcdr/Cdr.h"
#include "fastcdr/FastBuffer.h"

#include "fastdds/rtps/common/Time_t.h"

#include "rmw/allocators.h"
#include "rmw/error_handling.h"
#include "rmw/rmw.h"
Expand Down Expand Up @@ -57,8 +59,10 @@ __rmw_publish(
data.type = FASTRTPS_SERIALIZED_DATA_TYPE_ROS_MESSAGE;
data.data = const_cast<void *>(ros_message);
data.impl = info->type_support_impl_;
TRACETOOLS_TRACEPOINT(rmw_publish, ros_message);
if (!info->data_writer_->write(&data)) {
eprosima::fastrtps::Time_t stamp;
eprosima::fastrtps::Time_t::now(stamp);
TRACETOOLS_TRACEPOINT(rmw_publish, publisher, ros_message, stamp.to_ns());
if (!info->data_writer_->write_w_timestamp(&data, eprosima::fastdds::dds::HANDLE_NIL, stamp)) {
RMW_SET_ERROR_MSG("cannot publish data");
return RMW_RET_ERROR;
}
Expand Down Expand Up @@ -135,8 +139,13 @@ __rmw_publish_loaned_message(
RMW_CHECK_ARGUMENT_FOR_NULL(ros_message, RMW_RET_INVALID_ARGUMENT);

auto info = static_cast<CustomPublisherInfo *>(publisher->data);
TRACETOOLS_TRACEPOINT(rmw_publish, ros_message);
if (!info->data_writer_->write(const_cast<void *>(ros_message))) {
eprosima::fastrtps::Time_t stamp;
eprosima::fastrtps::Time_t::now(stamp);
TRACETOOLS_TRACEPOINT(rmw_publish, publisher, ros_message, stamp.to_ns());
if (!info->data_writer_->write_w_timestamp(
const_cast<void *>(ros_message),
eprosima::fastdds::dds::HANDLE_NIL, stamp))
{
RMW_SET_ERROR_MSG("cannot publish data");
return RMW_RET_ERROR;
}
Expand Down