From 83f39a0c5d6ec11db3b8cd62961db0e89f7717fe Mon Sep 17 00:00:00 2001
From: nibanovic <nikola.banovic@b-robotized.com>
Date: Mon, 20 Jul 2026 08:49:10 +0200
Subject: [PATCH 1/2] print async thread pinned cores

---
 .../include/realtime_tools/async_function_handler.hpp  | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/realtime_tools/include/realtime_tools/async_function_handler.hpp b/realtime_tools/include/realtime_tools/async_function_handler.hpp
index d815c109..cce6d3d0 100644
--- a/realtime_tools/include/realtime_tools/async_function_handler.hpp
+++ b/realtime_tools/include/realtime_tools/async_function_handler.hpp
@@ -568,9 +568,17 @@ class AsyncFunctionHandler
             params_.logger, !affinity_result.first,
             "Could not set CPU affinity for the async worker thread. Error: %s",
             affinity_result.second.c_str());
+
+          std::string cores_list_print = "[";
+          for (size_t i = 0; i < params_.cpu_affinity_cores.size(); ++i) {
+            cores_list_print += std::to_string(params_.cpu_affinity_cores[i]) +
+                                (i < params_.cpu_affinity_cores.size() - 1 ? ", " : "");
+          }
+          cores_list_print += "]";
+
           RCLCPP_WARN_EXPRESSION(
             params_.logger, affinity_result.first,
-            "Async worker thread is successfully pinned to the requested CPU cores!");
+            "Async worker thread successfully pinned to Cores: %s", cores_list_print.c_str());
         }
         if (!params_.thread_name.empty()) {
           const auto rename_result = realtime_tools::set_current_thread_name(params_.thread_name);

From fc269b0d071c7263ad5ae64e9909d64ee20de575 Mon Sep 17 00:00:00 2001
From: nibanovic <nikola.banovic@b-robotized.com>
Date: Mon, 27 Jul 2026 09:53:28 +0200
Subject: [PATCH 2/2] use fmt to format CPU cores list

---
 realtime_tools/CMakeLists.txt                       | 13 +++++++++++--
 .../realtime_tools/async_function_handler.hpp       | 10 ++++------
 realtime_tools/package.xml                          |  1 +
 3 files changed, 16 insertions(+), 8 deletions(-)

diff --git a/realtime_tools/CMakeLists.txt b/realtime_tools/CMakeLists.txt
index a9d48f70..4bb0d30a 100644
--- a/realtime_tools/CMakeLists.txt
+++ b/realtime_tools/CMakeLists.txt
@@ -21,6 +21,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   rclcpp_action
   Threads
   rcpputils
+  fmt
 )
 
 find_package(ament_cmake REQUIRED)
@@ -42,7 +43,13 @@ target_include_directories(realtime_tools PUBLIC
   $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include/realtime_tools>
 )
-target_link_libraries(realtime_tools PUBLIC rclcpp::rclcpp rclcpp_action::rclcpp_action rcpputils::rcpputils Threads::Threads Boost::boost)
+target_link_libraries(realtime_tools PUBLIC
+  rclcpp::rclcpp
+  rclcpp_action::rclcpp_action
+  rcpputils::rcpputils
+  Threads::Threads
+  Boost::boost
+  fmt::fmt)
 if(UNIX AND NOT APPLE)
   target_link_libraries(realtime_tools PUBLIC cap)
 endif()
@@ -66,6 +73,7 @@ if(BUILD_TESTING)
   find_package(lifecycle_msgs REQUIRED)
   find_package(rclcpp_lifecycle REQUIRED)
   find_package(test_msgs REQUIRED)
+  find_package(fmt REQUIRED)
 
   ament_add_gmock(thread_priority_tests test/thread_priority_tests.cpp)
   target_link_libraries(thread_priority_tests thread_priority)
@@ -98,7 +106,8 @@ if(BUILD_TESTING)
                         realtime_tools
                         thread_priority
                         ${lifecycle_msgs_TARGETS}
-                        rclcpp_lifecycle::rclcpp_lifecycle)
+                        rclcpp_lifecycle::rclcpp_lifecycle
+                        fmt::fmt)
 
   if(NOT WIN32)
     ament_add_gmock(realtime_mutex_tests test/realtime_mutex_tests.cpp)
diff --git a/realtime_tools/include/realtime_tools/async_function_handler.hpp b/realtime_tools/include/realtime_tools/async_function_handler.hpp
index cce6d3d0..030c6607 100644
--- a/realtime_tools/include/realtime_tools/async_function_handler.hpp
+++ b/realtime_tools/include/realtime_tools/async_function_handler.hpp
@@ -17,6 +17,8 @@
 #ifndef REALTIME_TOOLS__ASYNC_FUNCTION_HANDLER_HPP_
 #define REALTIME_TOOLS__ASYNC_FUNCTION_HANDLER_HPP_
 
+#include <fmt/format.h>
+#include <fmt/ranges.h>
 #include <atomic>
 #include <cmath>
 #include <condition_variable>
@@ -569,12 +571,8 @@ class AsyncFunctionHandler
             "Could not set CPU affinity for the async worker thread. Error: %s",
             affinity_result.second.c_str());
 
-          std::string cores_list_print = "[";
-          for (size_t i = 0; i < params_.cpu_affinity_cores.size(); ++i) {
-            cores_list_print += std::to_string(params_.cpu_affinity_cores[i]) +
-                                (i < params_.cpu_affinity_cores.size() - 1 ? ", " : "");
-          }
-          cores_list_print += "]";
+          std::string cores_list_print =
+            fmt::format("[{}]", fmt::join(params_.cpu_affinity_cores, ", "));
 
           RCLCPP_WARN_EXPRESSION(
             params_.logger, affinity_result.first,
diff --git a/realtime_tools/package.xml b/realtime_tools/package.xml
index 4ba7d588..fc794f29 100644
--- a/realtime_tools/package.xml
+++ b/realtime_tools/package.xml
@@ -25,6 +25,7 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_action</depend>
   <depend>libcap-dev</depend>
+  <depend>fmt</depend>
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>lifecycle_msgs</test_depend>