feat: jazzy support (#306)

* jazzy support

* ci(pre-commit): autofix

* review results reflected

* ci(pre-commit): autofix

* ci error compatible

* ci error compatible again

* spec consideration oversight addressed

* ci(pre-commit): autofix

* spell error fixed

* reverted timestamp correction

* reflected review results

* ci(pre-commit): autofix

* unified to entities_collector_addr and changed priority

---------

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

CARET_trace/CMakeLists.txt

@@ -35,6 +35,11 @@ find_package(rmw_fastrtps_shared_cpp REQUIRED)
 find_package(LTTngUST REQUIRED)
 find_package(caret_msgs REQUIRED)
 
+set(ENV_VAR_VALUE $ENV{ROS_DISTRO})
+if(ENV_VAR_VALUE STREQUAL "jazzy")
+  add_compile_definitions(ROS_DISTRO_JAZZY)
+endif()
+
 add_library(caret SHARED
   src/ros_trace_points.cpp
   src/hooked_trace_points.cpp

CARET_trace/include/caret_trace/data_container.hpp

@@ -75,6 +75,13 @@ class DataContainer : public DataContainerInterface
   using ConstructStaticExecutor =
     ContainerTraits<const void *, const void *, const char *, int64_t>;
 
+  /// @brief ContainerTraits for callback_group_to_executor_entity_collector trace points.
+  using CallbackGroupToExecutorEntityCollector =
+    ContainerTraits<const void *, const void *, const char *, int64_t>;
+
+  /// @brief ContainerTraits for executor_entity_collector_to_executor trace points.
+  using ExecutorEntityCollectorToExecutor = ContainerTraits<const void *, const void *, int64_t>;
+
   /// @brief ContainerTraits for rcl_init trace points.
   using RclInit = ContainerTraits<const void *, int64_t>;
 
@@ -145,6 +152,12 @@ class DataContainer : public DataContainerInterface
   /// @param callback_group_add_timer Data instance for callback_group_add_timer trace point.
   /// @param construct_executor Data instance for construct_executor trace point.
   /// @param construct_static_executor Data instance for construct_static_executor trace point.
+#ifdef ROS_DISTRO_JAZZY
+  /// @param callback_group_to_executor_entity_collector Data instance for
+  /// callback_group_to_executor_entity_collector trace point.
+  /// @param executor_entity_collector_to_executor Data instance for
+  /// executor_entity_collector_to_executor trace point.
+#endif
   /// @param rcl_client_init Data instance for rcl_client_init trace point.
   /// @param rcl_init Data instance for rcl_init trace point.
   /// @param rcl_node_init Data instance for rcl_node_init trace point.
@@ -170,6 +183,11 @@ class DataContainer : public DataContainerInterface
     std::shared_ptr<CallbackGroupAddTimer::KeysT> callback_group_add_timer,
     std::shared_ptr<ConstructExecutor::KeysT> construct_executor,
     std::shared_ptr<ConstructStaticExecutor::KeysT> construct_static_executor,
+#ifdef ROS_DISTRO_JAZZY
+    std::shared_ptr<CallbackGroupToExecutorEntityCollector::KeysT>
+      callback_group_to_executor_entity_collector,
+    std::shared_ptr<ExecutorEntityCollectorToExecutor::KeysT> executor_entity_collector_to_executor,
+#endif
     std::shared_ptr<RclClientInit::KeysT> rcl_client_init, std::shared_ptr<RclInit::KeysT> rcl_init,
     std::shared_ptr<RclNodeInit::KeysT> rcl_node_init,
     std::shared_ptr<RclPublisherInit::KeysT> rcl_publisher_init,
@@ -281,6 +299,30 @@ class DataContainer : public DataContainerInterface
     return construct_static_executor_->store(args...);
   }
 
+#ifdef ROS_DISTRO_JAZZY
+  /// @brief Store data for callback_group_to_executor_entity_collector trace points.
+  /// @tparam ...Args Data types to be stored.
+  /// @param ...args Data to be stored.
+  /// @return True, data was stored to pending set.
+  /// @return False, data was stored to set.
+  template <typename... Args>
+  bool store_callback_group_to_executor_entity_collector(Args... args)
+  {
+    return callback_group_to_executor_entity_collector_->store(args...);
+  }
+
+  /// @brief Store data for executor_entity_collector_to_executor trace points.
+  /// @tparam ...Args Data types to be stored.
+  /// @param ...args Data to be stored.
+  /// @return True, data was stored to pending set.
+  /// @return False, data was stored to set.
+  template <typename... Args>
+  bool store_executor_entity_collector_to_executor(Args... args)
+  {
+    return executor_entity_collector_to_executor_->store(args...);
+  }
+#endif
+
   /// @brief Store data for rcl_node_init trace points.
   /// @tparam ...Args Data types to be stored.
   /// @param ...args Data to be stored.
@@ -500,6 +542,18 @@ class DataContainer : public DataContainerInterface
   /// @param record recording function.
   void assign_construct_static_executor(ConstructStaticExecutor::StdFuncT record);
 
+#ifdef ROS_DISTRO_JAZZY
+  /// @brief Assign recording function for callback_group_to_executor_entity_collector trace points.
+  /// @param record recording function.
+  void assign_callback_group_to_executor_entity_collector(
+    CallbackGroupToExecutorEntityCollector::StdFuncT record);
+
+  /// @brief Assign recording function for executor_entity_collector_to_executor trace points.
+  /// @param record recording function.
+  void assign_executor_entity_collector_to_executor(
+    ExecutorEntityCollectorToExecutor::StdFuncT record);
+#endif
+
   /// @brief Assign recording function for rcl_client_init trace points.
   /// @param record recording function.
   void assign_rcl_client_init(RclClientInit::StdFuncT record);
@@ -609,6 +663,18 @@ class DataContainer : public DataContainerInterface
   /// @return True if function is assigned, false otherwise.
   bool is_assigned_construct_static_executor() const;
 
+#ifdef ROS_DISTRO_JAZZY
+  /// @brief Check whether recording function for callback_group_to_executor_entity_collector trace
+  /// point is assigned.
+  /// @return True if function is assigned, false otherwise.
+  bool is_assigned_callback_group_to_executor_entity_collector() const;
+
+  /// @brief Check whether recording function for executor_entity_collector_to_executor trace point
+  /// is assigned.
+  /// @return True if function is assigned, false otherwise.
+  bool is_assigned_executor_entity_collector_to_executor() const;
+#endif
+
   /// @brief Check whether recording function for rcl_client_init trace point is assigned.
   /// @return True if function is assigned, false otherwise.
   bool is_assigned_rcl_client_init() const;
@@ -697,6 +763,11 @@ class DataContainer : public DataContainerInterface
   std::shared_ptr<CallbackGroupAddTimer::KeysT> callback_group_add_timer_;
   std::shared_ptr<ConstructExecutor::KeysT> construct_executor_;
   std::shared_ptr<ConstructStaticExecutor::KeysT> construct_static_executor_;
+#ifdef ROS_DISTRO_JAZZY
+  std::shared_ptr<CallbackGroupToExecutorEntityCollector::KeysT>
+    callback_group_to_executor_entity_collector_;
+  std::shared_ptr<ExecutorEntityCollectorToExecutor::KeysT> executor_entity_collector_to_executor_;
+#endif
   std::shared_ptr<RclClientInit::KeysT> rcl_client_init_;
   std::shared_ptr<RclInit::KeysT> rcl_init_;
   std::shared_ptr<RclNodeInit::KeysT> rcl_node_init_;

CARET_trace/include/caret_trace/tp.h

@@ -43,6 +43,22 @@ TRACEPOINT_EVENT(
   )
 )
 
+#ifdef ROS_DISTRO_JAZZY
+TRACEPOINT_EVENT(
+  TRACEPOINT_PROVIDER,
+  dds_write,
+  TP_ARGS(
+    const void *, rmw_publisher_handle_arg,
+    const void *, message_arg,
+    int64_t, timestamp_arg
+  ),
+  TP_FIELDS(
+    ctf_integer_hex(const void *, rmw_publisher_handle, rmw_publisher_handle_arg)
+    ctf_integer_hex(const void *, message, message_arg)
+    ctf_integer(const int64_t, timestamp, timestamp_arg)
+  )
+)
+#else
 TRACEPOINT_EVENT(
   TRACEPOINT_PROVIDER,
   dds_write,
@@ -53,6 +69,7 @@ TRACEPOINT_EVENT(
     ctf_integer_hex(const void *, message, message_arg)
   )
 )
+#endif
 
 TRACEPOINT_EVENT(
   TRACEPOINT_PROVIDER,
@@ -93,6 +110,40 @@ TRACEPOINT_EVENT(
   )
 )
 
+TRACEPOINT_EVENT(
+  TRACEPOINT_PROVIDER,
+  callback_group_to_executor_entity_collector,
+  TP_ARGS(
+    const void *, entities_collector_addr_arg,
+    const void *, callback_group_addr_arg,
+    const char *, group_type_name_arg,
+    int64_t, init_timestamp_arg
+  ),
+  TP_FIELDS(
+    ctf_integer_hex(const void *, entities_collector_addr,
+      entities_collector_addr_arg)
+    ctf_integer_hex(const void *, callback_group_addr, callback_group_addr_arg)
+    ctf_string(group_type_name, group_type_name_arg)
+    ctf_integer(const int64_t, init_timestamp, init_timestamp_arg)
+  )
+)
+
+TRACEPOINT_EVENT(
+  TRACEPOINT_PROVIDER,
+  executor_entity_collector_to_executor,
+  TP_ARGS(
+    const void *, executor_addr_arg,
+    const void *, entities_collector_addr_arg,
+    int64_t, init_timestamp_arg
+  ),
+  TP_FIELDS(
+    ctf_integer_hex(const void *, executor_addr, executor_addr_arg)
+    ctf_integer_hex(const void *, entities_collector_addr,
+      entities_collector_addr_arg)
+    ctf_integer(const int64_t, init_timestamp, init_timestamp_arg)
+  )
+)
+
 TRACEPOINT_EVENT(
   TRACEPOINT_PROVIDER,
   construct_executor,

CARET_trace/src/data_container.cpp

@@ -37,6 +37,12 @@ DataContainer::DataContainer()
     std::make_shared<CallbackGroupAddTimer::KeysT>("callback_group_add_timer"),
     std::make_shared<ConstructExecutor::KeysT>("construct_executor"),
     std::make_shared<ConstructStaticExecutor::KeysT>("construct_static_executor"),
+#ifdef ROS_DISTRO_JAZZY
+    std::make_shared<CallbackGroupToExecutorEntityCollector::KeysT>(
+      "callback_group_to_executor_entity_collector"),
+    std::make_shared<ExecutorEntityCollectorToExecutor::KeysT>(
+      "executor_entity_collector_to_executor"),
+#endif
     std::make_shared<RclClientInit::KeysT>("rcl_client_init"),
     std::make_shared<RclInit::KeysT>("rcl_init"),
     std::make_shared<RclNodeInit::KeysT>("rcl_node_init"),
@@ -66,6 +72,11 @@ DataContainer::DataContainer(
   std::shared_ptr<CallbackGroupAddTimer::KeysT> callback_group_add_timer,
   std::shared_ptr<ConstructExecutor::KeysT> construct_executor,
   std::shared_ptr<ConstructStaticExecutor::KeysT> construct_static_executor,
+#ifdef ROS_DISTRO_JAZZY
+  std::shared_ptr<CallbackGroupToExecutorEntityCollector::KeysT>
+    callback_group_to_executor_entity_collector,
+  std::shared_ptr<ExecutorEntityCollectorToExecutor::KeysT> executor_entity_collector_to_executor,
+#endif
   std::shared_ptr<RclClientInit::KeysT> rcl_client_init, std::shared_ptr<RclInit::KeysT> rcl_init,
   std::shared_ptr<RclNodeInit::KeysT> rcl_node_init,
   std::shared_ptr<RclPublisherInit::KeysT> rcl_publisher_init,
@@ -90,6 +101,10 @@ DataContainer::DataContainer(
   callback_group_add_timer_(callback_group_add_timer),
   construct_executor_(construct_executor),
   construct_static_executor_(construct_static_executor),
+#ifdef ROS_DISTRO_JAZZY
+  callback_group_to_executor_entity_collector_(callback_group_to_executor_entity_collector),
+  executor_entity_collector_to_executor_(executor_entity_collector_to_executor),
+#endif
   rcl_client_init_(rcl_client_init),
   rcl_init_(rcl_init),
   rcl_node_init_(rcl_node_init),
@@ -134,6 +149,14 @@ DataContainer::DataContainer(
   if (construct_static_executor_) {
     recordable_data.emplace_back(construct_static_executor_);
   }
+#ifdef ROS_DISTRO_JAZZY
+  if (callback_group_to_executor_entity_collector_) {
+    recordable_data.emplace_back(callback_group_to_executor_entity_collector_);
+  }
+  if (executor_entity_collector_to_executor_) {
+    recordable_data.emplace_back(executor_entity_collector_to_executor_);
+  }
+#endif
   if (rcl_client_init_) {
     recordable_data.emplace_back(rcl_client_init_);
   }
@@ -273,6 +296,22 @@ void DataContainer::assign_construct_static_executor(ConstructStaticExecutor::St
   construct_static_executor_->assign(record);
 }
 
+#ifdef ROS_DISTRO_JAZZY
+void DataContainer::assign_callback_group_to_executor_entity_collector(
+  CallbackGroupToExecutorEntityCollector::StdFuncT record)
+{
+  assert(callback_group_to_executor_entity_collector_.get() != nullptr);
+  callback_group_to_executor_entity_collector_->assign(record);
+}
+
+void DataContainer::assign_executor_entity_collector_to_executor(
+  ExecutorEntityCollectorToExecutor::StdFuncT record)
+{
+  assert(executor_entity_collector_to_executor_.get() != nullptr);
+  executor_entity_collector_to_executor_->assign(record);
+}
+#endif
+
 void DataContainer::assign_rcl_client_init(RclClientInit::StdFuncT record)
 {
   assert(rcl_client_init_.get() != nullptr);
@@ -432,6 +471,20 @@ bool DataContainer::is_assigned_construct_static_executor() const
   return callback_group_add_client_->is_assigned();
 }
 
+#ifdef ROS_DISTRO_JAZZY
+bool DataContainer::is_assigned_callback_group_to_executor_entity_collector() const
+{
+  assert(callback_group_to_executor_entity_collector_.get() != nullptr);
+  return callback_group_to_executor_entity_collector_->is_assigned();
+}
+
+bool DataContainer::is_assigned_executor_entity_collector_to_executor() const
+{
+  assert(executor_entity_collector_to_executor_.get() != nullptr);
+  return executor_entity_collector_to_executor_->is_assigned();
+}
+#endif
+
 bool DataContainer::is_assigned_rcl_client_init() const
 {
   assert(rcl_client_init_.get() != nullptr);