Add initial skeleton for LTTng tracing in navigation2

nav2_tracetools/.gitignore

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+doc_output/
+.DS_Store

nav2_tracetools/CHANGELOG.rst

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+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package nav2_tracetools
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.1.0 (2021-12-22)
+------------------
+* Fork tracetools and shape it as nav2_tracetools to avoid external
+  dependencies.

nav2_tracetools/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(nav2_tracetools)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+elseif(CMAKE_CXX_COMPILER_ID MATCHES "MSVC")
+  add_compile_options(/W4)
+endif()
+
+find_package(ament_cmake_ros REQUIRED)
+
+if(WIN32)
+  set(DISABLED_DEFAULT ON)
+else()
+  set(DISABLED_DEFAULT OFF)
+endif()
+option(TRACETOOLS_DISABLED "Explicitly disable support for tracing" ${DISABLED_DEFAULT})
+option(TRACETOOLS_NO_RDYNAMIC "Disable export of -rdynamic link flag" OFF)
+option(TRACETOOLS_STATUS_CHECKING_TOOL "Enable the status checking tool" ON)
+
+if(NOT TRACETOOLS_DISABLED)
+  # Set TRACETOOLS_LTTNG_ENABLED if we can find lttng-ust
+  find_package(PkgConfig)
+  if(PkgConfig_FOUND)
+    pkg_check_modules(LTTNG lttng-ust)
+    if(LTTNG_FOUND)
+      set(TRACETOOLS_LTTNG_ENABLED TRUE)
+      message("LTTng found: tracing enabled")
+    endif()
+  endif()
+endif()
+
+# Store configuration variables for runtime use
+#   TRACETOOLS_DISABLED
+#   TRACETOOLS_LTTNG_ENABLED
+configure_file(include/${PROJECT_NAME}/config.h.in include/${PROJECT_NAME}/config.h)
+
+# nav2_tracetools lib
+set(SOURCES
+  src/tracetools.c
+  src/utils.cpp
+)
+set(HEADERS
+  include/${PROJECT_NAME}/tracetools.h
+  include/${PROJECT_NAME}/utils.hpp
+  include/${PROJECT_NAME}/visibility_control.hpp
+)
+if(TRACETOOLS_LTTNG_ENABLED)
+  # We only need these if we're using LTTng
+  list(APPEND SOURCES
+    src/tp_call.c
+  )
+  list(APPEND HEADERS
+    include/${PROJECT_NAME}/tp_call.h
+  )
+endif()
+
+# Copy select headers to the actual include/ directory that we will use and export
+foreach(_header ${HEADERS})
+  configure_file(
+    ${PROJECT_SOURCE_DIR}/${_header}
+    ${PROJECT_BINARY_DIR}/${_header}
+    COPYONLY
+  )
+endforeach()
+
+add_library(${PROJECT_NAME} ${SOURCES})
+if(TRACETOOLS_LTTNG_ENABLED)
+  target_link_libraries(${PROJECT_NAME} ${LTTNG_LIBRARIES})
+  # Export -rdynamic for downtream packages to use when calling
+  #   ament_target_dependencies()
+  # which is needed to resolve function addresses to symbols when
+  # using function pointers directly/without std::bind()
+  # (the flag should not be used on Windows, but TRACETOOLS_LTTNG_ENABLED
+  # should never be true on Windows anyway, so there is no need to check)
+  if(NOT TRACETOOLS_NO_RDYNAMIC)
+    target_link_libraries(${PROJECT_NAME} "-rdynamic")
+  endif()
+endif()
+if(WIN32)
+  # Causes the visibility macros to use dllexport rather than dllimport
+  # which is appropriate when building the dll but not consuming it.
+  target_compile_definitions(${PROJECT_NAME} PRIVATE "TRACETOOLS_BUILDING_DLL")
+endif()
+
+# Only use output/binary include directory
+target_include_directories(${PROJECT_NAME} PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>"
+  "$<INSTALL_INTERFACE:include>"
+)
+ament_export_targets(${PROJECT_NAME}_export HAS_LIBRARY_TARGET)
+
+if(TRACETOOLS_STATUS_CHECKING_TOOL)
+  # Status checking tool
+  add_executable(status
+    src/status.c
+  )
+  target_link_libraries(status
+    ${PROJECT_NAME}
+  )
+  install(TARGETS
+    status
+    DESTINATION lib/${PROJECT_NAME}
+  )
+endif()
+
+install(
+  DIRECTORY ${PROJECT_BINARY_DIR}/include/
+  DESTINATION include
+)
+install(
+  TARGETS ${PROJECT_NAME}
+  EXPORT ${PROJECT_NAME}_export
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
+ament_export_include_directories(include)
+if(TRACETOOLS_LTTNG_ENABLED)
+  ament_export_libraries(${PROJECT_NAME} ${LTTNG_LIBRARIES})
+  # Export -rdynamic for downstream packages using classic CMake variables
+  if(NOT TRACETOOLS_NO_RDYNAMIC)
+    ament_export_link_flags("-rdynamic")
+  endif()
+else()
+  ament_export_libraries(${PROJECT_NAME})
+endif()
+
+if(BUILD_TESTING)
+  set(ament_cmake_cppcheck_ADDITIONAL_INCLUDE_DIRS ${LTTNG_INCLUDE_DIRS})
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+
+  if(TRACETOOLS_STATUS_CHECKING_TOOL)
+    # Run status tool executable as test and set pass/fail expectation appropriately
+    add_test(test_status_tool status)
+    if(NOT TRACETOOLS_LTTNG_ENABLED)
+      set_tests_properties(test_status_tool PROPERTIES WILL_FAIL TRUE)
+    endif()
+  endif()
+
+endif()
+
+ament_package()
+
+target_compile_definitions(${PROJECT_NAME} PRIVATE ${PROJECT_NAME}_VERSION="${${PROJECT_NAME}_VERSION}")

nav2_tracetools/Doxyfile

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+# All settings not listed here will use the Doxygen default values.
+
+PROJECT_NAME           = "nav2_tracetools"
+PROJECT_NUMBER         = master
+PROJECT_BRIEF          = "LTTng tracing provider wrapper for navigation2 ROS 2 meta-package."
+
+INPUT                  = ./include
+
+RECURSIVE              = YES
+OUTPUT_DIRECTORY       = doc_output
+
+EXTRACT_ALL            = YES
+SORT_MEMBER_DOCS       = NO
+
+GENERATE_LATEX         = NO
+
+ENABLE_PREPROCESSING   = YES
+MACRO_EXPANSION        = YES
+EXPAND_ONLY_PREDEF     = NO
+PREDEFINED             = \
+    "TRACETOOLS_PUBLIC="
+
+EXCLUDE_SYMBOLS        = \
+    "DECLARE_TRACEPOINT" \
+    "_demangle_symbol" \
+    "_get_symbol_funcptr"
+
+# Tag files that do not exist will produce a warning and cross-project linking will not work.
+TAGFILES += "../../../../../doxygen_tag_files/cppreference-doxygen-web.tag.xml=http://en.cppreference.com/w/"
+# Uncomment to generate tag files for cross-project linking.
+#   (path relative to workspace dir: doxygen_tag_files/$PACKAGE_NAME.tag)
+#GENERATE_TAGFILE = "../../../../../doxygen_tag_files/tracetools.tag"

nav2_tracetools/README.md

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+# nav2_tracetools
+
+LTTng tracing provider wrapper for navigation2 ROS 2 meta-package. `nav2_tracetools` is a fork of [tracetools](https://gitlab.com/ros-tracing/ros2_tracing/-/tree/master/tracetools), refer to this package for the original work.
+
+### Quality Declaration
+
+No quality is claimed according to [REP-2004](https://www.ros.org/reps/rep-2004.html).

nav2_tracetools/include/nav2_tracetools/config.h.in

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+// Copyright 2021 Víctor Mayoral-Vilches
+// Copyright 2019 Robert Bosch GmbH
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef NAV2_TRACETOOLS__CONFIG_H_
+#define NAV2_TRACETOOLS__CONFIG_H_
+
+#cmakedefine TRACETOOLS_DISABLED
+#cmakedefine TRACETOOLS_LTTNG_ENABLED
+
+#endif  // NAV2_TRACETOOLS__CONFIG_H_

nav2_tracetools/include/nav2_tracetools/tp_call.h

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+// Copyright 2021 Víctor Mayoral-Vilches
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+// Provide fake header guard for cpplint
+#undef NAV2_TRACETOOLS__TP_CALL_H_
+#ifndef NAV2_TRACETOOLS__TP_CALL_H_
+#define NAV2_TRACETOOLS__TP_CALL_H_
+
+#undef TRACEPOINT_PROVIDER
+#define TRACEPOINT_PROVIDER ros2_navigation2
+
+#undef TRACEPOINT_INCLUDE
+#define TRACEPOINT_INCLUDE "nav2_tracetools/tp_call.h"
+
+#if !defined(_NAV2_TRACETOOLS__TP_CALL_H_) || defined(TRACEPOINT_HEADER_MULTI_READ)
+#define _NAV2_TRACETOOLS__TP_CALL_H_
+
+#include <lttng/tracepoint.h>
+
+#include <stdint.h>
+#include <stdbool.h>
+
+// Add tracepoints
+
+#endif  // _NAV2_TRACETOOLS__TP_CALL_H_
+
+#include <lttng/tracepoint-event.h>
+
+#endif  // NAV2_TRACETOOLS__TP_CALL_H_

nav2_tracetools/include/nav2_tracetools/tracetools.h

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+// Copyright 2021 Víctor Mayoral-Vilches
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+
+/** \mainpage nav2_tracetools: tracing tools and instrumentation for
+ *  for image_pipeline ROS 2 meta-package.
+ *
+ * `nav2_tracetools` provides utilities to instrument ROS image_pipeline.
+ * It provides two main headers:
+ *
+ * - tracetools/tracetools.h
+ *   - instrumentation functions
+ * - tracetools/utils.hpp
+ *   - utility functions
+ */
+
+#ifndef NAV2_TRACETOOLS__TRACETOOLS_H_
+#define NAV2_TRACETOOLS__TRACETOOLS_H_
+
+#include <stdint.h>
+#include <string.h>
+#include <stdbool.h>
+#include "nav2_tracetools/config.h"
+#include "nav2_tracetools/visibility_control.hpp"
+
+#ifndef TRACETOOLS_DISABLED
+/// Call a tracepoint.
+/**
+ * This is the preferred method over calling the actual function directly.
+ */
+#  define TRACEPOINT(event_name, ...) \
+  (ros_trace_ ## event_name)(__VA_ARGS__)
+#  define DECLARE_TRACEPOINT(event_name, ...) \
+  TRACETOOLS_PUBLIC void ros_trace_ ## event_name(__VA_ARGS__);
+#else
+#  define TRACEPOINT(event_name, ...) ((void) (0))
+#  define DECLARE_TRACEPOINT(event_name, ...)
+#endif
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/// Get tracing compilation status.
+/**
+ * \return `true` if tracing is enabled, `false` otherwise
+ */
+TRACETOOLS_PUBLIC bool ros_trace_compile_status();
+
+// Add tracepoints
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // NAV2_TRACETOOLS__TRACETOOLS_H_