Add ARMARX_TRACE

source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.cpp

@@ -91,6 +91,7 @@ EtherCAT::EtherCAT() : expectedWKC(-1),
  */
 bool EtherCAT::startBus(bool createDevices)
 {
+    ARMARX_TRACE;
     //if the bus runs already do nothing
     if (isSDOWorking)
     {
@@ -149,6 +150,7 @@ bool EtherCAT::startBus(bool createDevices)
         return false;
     }
 
+    ARMARX_TRACE;
     //wait to be sure
     osal_usleep(500000);
     //we are up and running for SDO's
@@ -189,6 +191,7 @@ bool EtherCAT::startBus(bool createDevices)
 
 
 
+    ARMARX_TRACE;
     for (auto slave : slaves)
     {
         slave->prepareForSafeOp();
@@ -259,6 +262,7 @@ bool EtherCAT::startBus(bool createDevices)
     ec_send_processdata();
     ec_receive_processdata(EC_TIMEOUTRET);
 
+    ARMARX_TRACE;
     //request all slaves to transit to OP-Mode
     int stateRet = ec_writestate(0);
     if (stateRet == 1)
@@ -298,6 +302,7 @@ bool EtherCAT::startBus(bool createDevices)
         //returning with an error
         return false;
     }
+    ARMARX_TRACE;
     ARMARX_INFO << "All Slaves in OP now!" << std::endl;
 
 
@@ -321,6 +326,7 @@ bool EtherCAT::startBus(bool createDevices)
         ARMARX_INFO << deactivateSpam(1) << "Waiting for " << (slaves.size() - slaveReadyCounter) << "/" << slaves.size() << " slaves to get ready: " << missingSlaves;
         updatePDO();
     }
+    ARMARX_TRACE;
     ARMARX_DEBUG << "PDOs updated.";
     std::stringstream slaveInfo;
     for (AbstractSlavePtr& slave : slaves)
@@ -374,6 +380,7 @@ std::string ec_errorToString(ec_errort const&  error)
  */
 bool EtherCAT::setPDOMappings()
 {
+    ARMARX_TRACE;
     bool retVal = true;
     int byteSum = 0;
     for (std::shared_ptr<AbstractSlave>& slave : slaves)
@@ -425,6 +432,7 @@ bool EtherCAT::setPDOMappings()
  */
 std::pair<std::vector<ControlDevicePtr>, std::vector<SensorDevicePtr>> EtherCAT::createDevices()
 {
+    ARMARX_TRACE;
     std::set<ControlDevicePtr> ctrlDevs;
     std::set<SensorDevicePtr> sensDevs;
     if (deviceContainerPtr == nullptr)
@@ -518,6 +526,7 @@ void EtherCAT::setIfName(const std::string& ifname)
  */
 bool EtherCAT::updateBus(bool doErrorHandling)
 {
+    ARMARX_TRACE;
 
     if (!isSDOWorking)
     {