cactusdynamics · shuhaowu · Nov 25, 2024 · Oct 14, 2024
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -38,7 +38,7 @@ jobs:
     runs-on: [self-hosted, noble, real-time]
     env:
       CACTUS_RT_BUILD_DIR: build
-      ENABLE_TRACING: "OFF"
+      CACTUS_RT_ENABLE_TRACING: "OFF"
     steps:
       - uses: actions/checkout@v3
 

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -3,14 +3,22 @@ project(cactus_rt)
 
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
+#################
+# Setup options #
+#################
+
+# Used for building cactus-rt when all dependencies are vendored
+option(CACTUS_RT_ENABLE_FETCH_DEPENDENCIES "Fetch dependencies during build" ON)
+
+# Used to disable tracing in some builds where the overhead of tracing is unwanted.
+option(CACTUS_RT_ENABLE_TRACING "Enable runtime tracing support" ON)
+
+# Below are internal options
 option(ENABLE_CLANG_TIDY "Run clang-tidy" OFF)
 option(ENABLE_EXAMPLES "Build example programs" ON)
-option(ENABLE_TRACING "Enable runtime tracing support" ON)
 option(ENABLE_ROS2 "Enables ROS2 support" OFF)
 option(BUILD_DOCS "Build documentations" OFF)
 
-# Used for building cactus-rt when all dependencies are vendored
-option(CACTUS_RT_ENABLE_FETCH_DEPENDENCIES "Fetch dependencies during build" ON)
 
 # https://stackoverflow.com/questions/5395309/how-do-i-force-cmake-to-include-pthread-option-during-compilation
 set(CMAKE_THREAD_PREFER_PTHREAD TRUE)
@@ -105,10 +113,8 @@ endfunction()
 # Cactus RT library #
 #####################
 
-if(${CMAKE_PROJECT_NAME} STREQUAL ${PROJECT_NAME})
-  if (ENABLE_TRACING)
-    add_subdirectory(protos)
-  endif()
+if (CACTUS_RT_ENABLE_TRACING)
+  add_subdirectory(protos)
 endif()
 
 add_library(cactus_rt
@@ -136,28 +142,28 @@ target_link_libraries(cactus_rt
 # Use a bounded queue
 target_compile_definitions(cactus_rt PUBLIC QUILL_USE_BOUNDED_QUEUE)
 
-if(${CMAKE_PROJECT_NAME} STREQUAL ${PROJECT_NAME})
-  if (ENABLE_TRACING)
-    target_sources(cactus_rt
-      PRIVATE
-      src/cactus_rt/tracing/sink.cc
-      src/cactus_rt/tracing/thread_tracer.cc
-      src/cactus_rt/tracing/trace_aggregator.cc
-      src/cactus_rt/tracing/tracing_enabled.cc
-      src/cactus_rt/tracing/utils/string_interner.cc
-    )
+if (CACTUS_RT_ENABLE_TRACING)
+  target_sources(cactus_rt
+    PRIVATE
+    src/cactus_rt/tracing/sink.cc
+    src/cactus_rt/tracing/thread_tracer.cc
+    src/cactus_rt/tracing/trace_aggregator.cc
+    src/cactus_rt/tracing/tracing_enabled.cc
+    src/cactus_rt/tracing/utils/string_interner.cc
+  )
 
-    target_link_libraries(cactus_rt
-      PUBLIC
-      cactus_tracing_embedded_perfetto_protos
-    )
+  target_link_libraries(cactus_rt
+    PUBLIC
+    cactus_tracing_embedded_perfetto_protos
+  )
 
-    target_compile_definitions(cactus_rt
-      PUBLIC
-      CACTUS_RT_TRACING_ENABLED=1
-    )
-  endif()
+  target_compile_definitions(cactus_rt
+    PUBLIC
+    CACTUS_RT_TRACING_ENABLED=1
+  )
+endif()
 
+if(${CMAKE_PROJECT_NAME} STREQUAL ${PROJECT_NAME})
   if (ENABLE_CLANG_TIDY)
     find_program(CLANG_TIDY clang-tidy clang-tidy-18 clang-tidy-17 clang-tidy-16 clang-tidy-15 clang-tidy-14)
   else()
@@ -191,7 +197,7 @@ if(${CMAKE_PROJECT_NAME} STREQUAL ${PROJECT_NAME})
     add_subdirectory(examples/simple_example)
     add_subdirectory(examples/random_example)
 
-    if (ENABLE_TRACING)
+    if (CACTUS_RT_ENABLE_TRACING)
       add_subdirectory(examples/tracing_protos_example)
       add_subdirectory(examples/tracing_example)
       add_subdirectory(examples/tracing_example_no_rt)

diff --git a/Makefile b/Makefile
@@ -1,11 +1,11 @@
 .PHONY: release debug build-test-debug test-debug test benchmark clean clean-all
 
+CACTUS_RT_ENABLE_TRACING ?= ON
 ENABLE_CLANG_TIDY ?= OFF
-ENABLE_TRACING ?= ON
 ENABLE_EXAMPLES ?= ON
 BUILD_DOCS ?= OFF
 BUILD_TESTING ?= OFF
-CMAKE_FLAGS := -DENABLE_CLANG_TIDY=$(ENABLE_CLANG_TIDY) -DENABLE_EXAMPLES=$(ENABLE_EXAMPLES) -DBUILD_DOCS=$(BUILD_DOCS) -DBUILD_TESTING=$(BUILD_TESTING) -DENABLE_TRACING=$(ENABLE_TRACING)
+CMAKE_FLAGS := -DENABLE_CLANG_TIDY=$(ENABLE_CLANG_TIDY) -DENABLE_EXAMPLES=$(ENABLE_EXAMPLES) -DBUILD_DOCS=$(BUILD_DOCS) -DBUILD_TESTING=$(BUILD_TESTING) -DCACTUS_RT_ENABLE_TRACING=$(CACTUS_RT_ENABLE_TRACING)
 
 debug:
 	cmake -Bbuild/$@ -DCMAKE_BUILD_TYPE=Debug $(CMAKE_FLAGS)
@@ -16,7 +16,7 @@ release:
 	cmake --build build/$@ -j $$(nproc)
 
 build-test-debug:
-	cmake -Bbuild/test -DCMAKE_BUILD_TYPE=Debug -DENABLE_EXAMPLES=OFF -DBUILD_TESTING=ON -DENABLE_CLANG_TIDY=$(ENABLE_CLANG_TIDY) -DENABLE_TRACING=$(ENABLE_TRACING)
+	cmake -Bbuild/test -DCMAKE_BUILD_TYPE=Debug -DENABLE_EXAMPLES=OFF -DBUILD_TESTING=ON -DENABLE_CLANG_TIDY=$(ENABLE_CLANG_TIDY) -DCACTUS_RT_ENABLE_TRACING=$(CACTUS_RT_ENABLE_TRACING)
 	cmake --build build/test -j $$(nproc)
 
 test-debug: build-test-debug
@@ -25,7 +25,7 @@ test-debug: build-test-debug
 test: test-debug
 
 build-test-release:
-	cmake -Bbuild/benchmark -DCMAKE_BUILD_TYPE=RelWithDebInfo -DENABLE_EXAMPLES=OFF -DBUILD_TESTING=ON -DENABLE_CLANG_TIDY=$(ENABLE_CLANG_TIDY) -DENABLE_TRACING=$(ENABLE_TRACING)
+	cmake -Bbuild/benchmark -DCMAKE_BUILD_TYPE=RelWithDebInfo -DENABLE_EXAMPLES=OFF -DBUILD_TESTING=ON -DENABLE_CLANG_TIDY=$(ENABLE_CLANG_TIDY) -DCACTUS_RT_ENABLE_TRACING=$(CACTUS_RT_ENABLE_TRACING)
 	cmake --build build/benchmark -j $$(nproc)
 
 benchmark: build-test-release

diff --git a/README.md b/README.md
@@ -295,6 +295,8 @@ FetchContent_MakeAvailable(cactus_rt)
 target_link_libraries(myapp PRIVATE cactus_rt)
 ```
 
+See https://github.com/cactusdynamics/cactus-rt-sample-app for an example.
+
 Note that if you compile your app in debug mode, cactus-rt will be compiled in
 debug mode due to how `FetchContent` works. To get cactus-rt in release mode,
 compile your app in release mode.

diff --git a/docker/scripts/01-build.sh b/docker/scripts/01-build.sh
@@ -6,6 +6,6 @@ cmake -B${CACTUS_RT_BUILD_DIR} \
   -DENABLE_CLANG_TIDY=ON \
   -DBUILD_DOCS=ON \
   -DBUILD_TESTING=ON \
-  -DENABLE_TRACING=${ENABLE_TRACING:-ON} \
+  -DCACTUS_RT_ENABLE_TRACING=${CACTUS_RT_ENABLE_TRACING:-ON} \
   -DCMAKE_BUILD_TYPE=RelWithDebInfo
 cmake --build ${CACTUS_RT_BUILD_DIR} -j $(nproc)
diff --git a/include/cactus_rt/config.h b/include/cactus_rt/config.h
@@ -34,7 +34,7 @@ struct AppConfig {
   quill::Config logger_config;
 
   /**
-   * @brief The config for the tracer if enabled (ENABLE_TRACING option in cmake)
+   * @brief The config for the tracer if enabled (CACTUS_RT_ENABLE_TRACING option in cmake)
    */
   TracerConfig tracer_config;
 };

diff --git a/include/cactus_rt/tracing/tracing_enabled.disabled.h b/include/cactus_rt/tracing/tracing_enabled.disabled.h
@@ -5,6 +5,10 @@ inline bool IsTracingEnabled() noexcept {
   return false;
 }
 
+inline bool IsTracingAvailable() noexcept {
+  return false;
+}
+
 inline void EnableTracing() noexcept {}
 
 inline void DisableTracing() noexcept {}

diff --git a/include/cactus_rt/tracing/tracing_enabled.h b/include/cactus_rt/tracing/tracing_enabled.h
@@ -19,6 +19,10 @@ inline bool IsTracingEnabled() noexcept {
   return tracing_enabled.load(std::memory_order_relaxed);
 }
 
+inline bool IsTracingAvailable() noexcept {
+  return true;
+}
+
 inline void EnableTracing() noexcept {
   tracing_enabled = true;
 }

diff --git a/scripts/test-in-docker b/scripts/test-in-docker
@@ -6,7 +6,7 @@ cd docker
 docker build . -t cactus-rt-test
 cd ..
 docker run --rm \
-  -e ENABLE_TRACING=${ENABLE_TRACING:-ON} \
+  -e CACTUS_RT_ENABLE_TRACING=${CACTUS_RT_ENABLE_TRACING:-ON} \
   -it \
   --cap-add IPC_LOCK \
   -v $(pwd):/cactus-rt/source \

diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
@@ -29,7 +29,7 @@ target_compile_definitions(cactus_rt_tests
 
 gtest_discover_tests(cactus_rt_tests)
 
-if(ENABLE_TRACING)
+if(CACTUS_RT_ENABLE_TRACING)
   add_executable(cactus_rt_tracing_tests
 
     tracing/single_threaded_test.cc
@@ -60,7 +60,7 @@ add_executable(cactus_rt_tracing_benchmark
   tracing/tracing_benchmark.cc
 )
 
-if (ENABLE_TRACING)
+if (CACTUS_RT_ENABLE_TRACING)
   target_sources(cactus_rt_tracing_benchmark
     PRIVATE
     tracing/string_interner_benchmark.cc