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Emit executor execute tracepoint from shared entity paths #3368

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Emit executor execute tracepoint from shared entity paths #3368

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13 changes: 7 additions & 6 deletions rclcpp/src/rclcpp/executor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -516,15 +516,9 @@ Executor::execute_any_executable(AnyExecutable & any_exec)
any_exec.callback_group));

if (any_exec.timer) {
TRACETOOLS_TRACEPOINT(
rclcpp_executor_execute,
static_cast<const void *>(any_exec.timer->get_timer_handle().get()));
execute_timer(any_exec.timer, any_exec.data);
}
if (any_exec.subscription) {
TRACETOOLS_TRACEPOINT(
rclcpp_executor_execute,
static_cast<const void *>(any_exec.subscription->get_subscription_handle().get()));
execute_subscription(any_exec.subscription);
}
if (any_exec.service) {
Expand Down Expand Up @@ -582,6 +576,10 @@ take_and_do_error_handling(
void
Executor::execute_subscription(const rclcpp::SubscriptionBase::SharedPtr & subscription)
{
TRACETOOLS_TRACEPOINT(
rclcpp_executor_execute,
static_cast<const void *>(subscription->get_subscription_handle().get()));

using rclcpp::dynamic_typesupport::DynamicMessage;

rclcpp::MessageInfo message_info;
Expand Down Expand Up @@ -687,6 +685,9 @@ Executor::execute_timer(
const rclcpp::TimerBase::SharedPtr & timer,
const std::shared_ptr<void> & data_ptr)
{
TRACETOOLS_TRACEPOINT(
rclcpp_executor_execute,
static_cast<const void *>(timer->get_timer_handle().get()));
timer->execute_callback(data_ptr);
}

Expand Down