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Merged
saikishor merged 1 commit into from
Aug 2, 2026
Merged

print async thread pinned cores (backport #551) #567

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13 changes: 11 additions & 2 deletions realtime_tools/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
rclcpp_action
Threads
rcpputils
fmt
)

find_package(ament_cmake REQUIRED)
Expand All @@ -44,7 +45,13 @@ 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()
Expand All @@ -69,6 +76,7 @@ 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)
Expand Down Expand Up @@ -104,7 +112,8 @@ 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)
Expand Down
8 changes: 7 additions & 1 deletion realtime_tools/include/realtime_tools/async_function_handler.hpp
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Expand Up @@ -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>
Expand Down Expand Up @@ -568,9 +570,13 @@ 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 =
fmt::format("[{}]", fmt::join(params_.cpu_affinity_cores, ", "));

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);
Expand Down
1 change: 1 addition & 0 deletions realtime_tools/package.xml
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Expand Up @@ -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>
Expand Down
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