[Gazebo 11] Added ignition common profiler

CMakeLists.txt

@@ -37,6 +37,14 @@ if(NOT DEFINED BUILD_TESTING)
     set(BUILD_TESTING OFF)
 endif()
 
+option(ENABLE_PROFILER "Enable Ignition Profiler" FALSE)
+
+if(ENABLE_PROFILER)
+  add_definitions("-DIGN_PROFILER_ENABLE=1")
+else()
+  add_definitions("-DIGN_PROFILER_ENABLE=0")
+endif()
+
 #============================================================================
 # We turn off extensions because (1) we do not ever want to use non-standard
 # compiler extensions, and (2) this variable is on by default, causing cmake
@@ -260,7 +268,11 @@ filter_valid_compiler_flags(${WARN_LEVEL}
 # Check and add visibility hidden by default. Only in UNIX
 # Windows and MacosX does not handled properly the hidden compilation
 if (UNIX AND NOT APPLE)
-  filter_valid_compiler_flags(-fvisibility=hidden -fvisibility-inlines-hidden)
+  if (ENABLE_PROFILER)
+    filter_valid_compiler_flags(-fvisibility-inlines-hidden)
+  else()
+    filter_valid_compiler_flags(-fvisibility=hidden -fvisibility-inlines-hidden)
+  endif()
 endif()
 
 if (MSVC)

gazebo/CMakeLists.txt

@@ -51,6 +51,10 @@ add_dependencies(gazebo_sensors gazebo_rendering)
 
 gz_add_executable(gzserver server_main.cc)
 
+if (${ENABLE_PROFILER})
+  set(IGN_PROFILE_LIBS ${IGNITION-COMMON_LIBRARIES})
+endif()
+
 target_link_libraries(gzserver
   libgazebo
   gazebo_common
@@ -64,6 +68,7 @@ target_link_libraries(gzserver
   ${freeimage_LIBRARIES}
   ${TBB_LIBRARIES}
   ${ogre_libraries}
+  ${IGN_PROFILE_LIBS}
 )
 
 if (UNIX)

gazebo/Server.cc

@@ -33,6 +33,7 @@
 #include <sdf/sdf.hh>
 
 #include <ignition/math/Rand.hh>
+#include "ignition/common/Profiler.hh"
 
 #include "gazebo/gazebo.hh"
 #include "gazebo/transport/transport.hh"
@@ -596,22 +597,34 @@ void Server::Run()
 
   this->dataPtr->initialized = true;
 
+  IGN_PROFILE_THREAD_NAME("gzserver");
   // Stay on this loop until Gazebo needs to be shut down
   // The server and sensor manager outlive worlds
   while (!this->dataPtr->stop)
   {
+    IGN_PROFILE("Server::Run");
+    IGN_PROFILE_BEGIN("ProcessControlMsgs");
     if (this->dataPtr->lockstep)
       rendering::wait_for_render_request("", 0.100);
     // bool ret = rendering::wait_for_render_request("", 0.100);
     // if (ret == false)
     //   gzerr << "time out reached!" << std::endl;
 
     this->ProcessControlMsgs();
+    IGN_PROFILE_END();
 
     if (physics::worlds_running())
+    {
+      IGN_PROFILE_BEGIN("run_once");
       sensors::run_once();
+      IGN_PROFILE_END();
+    }
     else if (sensors::running())
+    {
+      IGN_PROFILE_BEGIN("stop");
       sensors::stop();
+      IGN_PROFILE_END();
+    }
 
     if (!this->dataPtr->lockstep)
       common::Time::MSleep(1);

gazebo/common/CMakeLists.txt

@@ -242,6 +242,7 @@ target_link_libraries(gazebo_common
     ignition-common3::graphics
     ${IGNITION-FUEL_TOOLS_LIBRARIES}
     ${IGNITION-MATH_LIBRARIES}
+    ${IGNITION-COMMON_LIBRARIES}
     ${libdl_library}
     ${libtar_LIBRARIES}
     ${SDFormat_LIBRARIES}

gazebo/common/Event.hh

@@ -24,11 +24,13 @@
 #include <memory>
 #include <mutex>
 
-#include <gazebo/gazebo_config.h>
-#include <gazebo/common/Time.hh>
-#include <gazebo/common/CommonTypes.hh>
+#include "gazebo/gazebo_config.h"
+#include "gazebo/common/Time.hh"
+#include "gazebo/common/CommonTypes.hh"
 #include "gazebo/util/system.hh"
 
+#include "ignition/common/Profiler.hh"
+
 namespace gazebo
 {
   /// \ingroup gazebo_event
@@ -268,13 +270,19 @@ namespace gazebo
       /// \brief Signal the event for all subscribers.
       public: void Signal()
       {
+        IGN_PROFILE("Event::Signal");
+
         this->Cleanup();
 
         this->SetSignaled(true);
         for (const auto &iter: this->connections)
         {
           if (iter.second->on)
+          {
+            IGN_PROFILE_BEGIN("callback0");
             iter.second->callback();
+            IGN_PROFILE_END();
+          }
         }
       }
 
@@ -283,13 +291,19 @@ namespace gazebo
       public: template< typename P >
               void Signal(const P &_p)
       {
+        IGN_PROFILE("Event::Signal");
+
         this->Cleanup();
 
         this->SetSignaled(true);
         for (const auto &iter: this->connections)
         {
           if (iter.second->on)
+          {
+            IGN_PROFILE_BEGIN("callback1");
             iter.second->callback(_p);
+            IGN_PROFILE_END();
+          }
         }
       }
 
@@ -299,13 +313,19 @@ namespace gazebo
       public: template< typename P1, typename P2 >
               void Signal(const P1 &_p1, const P2 &_p2)
       {
+        IGN_PROFILE("Event::Signal");
+
         this->Cleanup();
 
         this->SetSignaled(true);
         for (const auto &iter: this->connections)
         {
           if (iter.second->on)
+          {
+            IGN_PROFILE_BEGIN("callback2");
             iter.second->callback(_p1, _p2);
+            IGN_PROFILE_END();
+          }
         }
       }
 
@@ -316,13 +336,19 @@ namespace gazebo
       public: template< typename P1, typename P2, typename P3 >
               void Signal(const P1 &_p1, const P2 &_p2, const P3 &_p3)
       {
+        IGN_PROFILE("Event::Signal");
+
         this->Cleanup();
 
         this->SetSignaled(true);
         for (const auto &iter: this->connections)
         {
           if (iter.second->on)
+          {
+            IGN_PROFILE_BEGIN("callback3");
             iter.second->callback(_p1, _p2, _p3);
+            IGN_PROFILE_END();
+          }
         }
       }
 
@@ -335,13 +361,19 @@ namespace gazebo
               void Signal(const P1 &_p1, const P2 &_p2, const P3 &_p3,
                           const P4 &_p4)
       {
+        IGN_PROFILE("Event::Signal");
+
         this->Cleanup();
 
         this->SetSignaled(true);
         for (const auto &iter: this->connections)
         {
           if (iter.second->on)
+          {
+            IGN_PROFILE_BEGIN("callback4");
             iter.second->callback(_p1, _p2, _p3, _p4);
+            IGN_PROFILE_END();
+          }
         }
       }
 
@@ -356,13 +388,19 @@ namespace gazebo
               void Signal(const P1 &_p1, const P2 &_p2, const P3 &_p3,
                           const P4 &_p4, const P5 &_p5)
       {
+        IGN_PROFILE("Event::Signal");
+
         this->Cleanup();
 
         this->SetSignaled(true);
         for (const auto &iter: this->connections)
         {
           if (iter.second->on)
+          {
+            IGN_PROFILE_BEGIN("callback5");
             iter.second->callback(_p1, _p2, _p3, _p4, _p5);
+            IGN_PROFILE_END();
+          }
         }
       }
 
@@ -378,13 +416,19 @@ namespace gazebo
               void Signal(const P1 &_p1, const P2 &_p2, const P3 &_p3,
                   const P4 &_p4, const P5 &_p5, const P6 &_p6)
       {
+        IGN_PROFILE("Event::Signal");
+
         this->Cleanup();
 
         this->SetSignaled(true);
         for (const auto &iter: this->connections)
         {
           if (iter.second->on)
+          {
+            IGN_PROFILE_BEGIN("callback6");
             iter.second->callback(_p1, _p2, _p3, _p4, _p5, _p6);
+            IGN_PROFILE_END();
+          }
         }
       }
 
@@ -401,13 +445,19 @@ namespace gazebo
               void Signal(const P1 &_p1, const P2 &_p2, const P3 &_p3,
                   const P4 &_p4, const P5 &_p5, const P6 &_p6, const P7 &_p7)
       {
+        IGN_PROFILE("Event::Signal");
+
         this->Cleanup();
 
         this->SetSignaled(true);
         for (const auto &iter: this->connections)
         {
           if (iter.second->on)
+          {
+            IGN_PROFILE_BEGIN("callback7");
             iter.second->callback(_p1, _p2, _p3, _p4, _p5, _p6, _p7);
+            IGN_PROFILE_END();
+          }
         }
       }
 
@@ -426,14 +476,18 @@ namespace gazebo
                   const P4 &_p4, const P5 &_p5, const P6 &_p6, const P7 &_p7,
                   const P8 &_p8)
       {
+        IGN_PROFILE("Event::Signal");
+
         this->Cleanup();
 
         this->SetSignaled(true);
         for (const auto &iter: this->connections)
         {
           if (iter.second->on)
           {
+            IGN_PROFILE_BEGIN("callback8");
             iter.second->callback(_p1, _p2, _p3, _p4, _p5, _p6, _p7, _p8);
+            IGN_PROFILE_END();
           }
         }
       }
@@ -455,15 +509,19 @@ namespace gazebo
                   const P4 &_p4, const P5 &_p5, const P6 &_p6, const P7 &_p7,
                   const P8 &_p8, const P9 &_p9)
       {
+        IGN_PROFILE("Event::Signal");
+
         this->Cleanup();
 
         this->SetSignaled(true);
         for (const auto &iter: this->connections)
         {
           if (iter.second->on)
           {
+            IGN_PROFILE_BEGIN("callback9");
             iter.second->callback(
                 _p1, _p2, _p3, _p4, _p5, _p6, _p7, _p8, _p9);
+            IGN_PROFILE_END();
           }
         }
       }
@@ -491,10 +549,14 @@ namespace gazebo
         this->SetSignaled(true);
         for (const auto &iter: this->connections)
         {
+          IGN_PROFILE("Event::Signal");
+
           if (iter.second->on)
           {
+            IGN_PROFILE_BEGIN("callback10");
             iter.second->callback(
                 _p1, _p2, _p3, _p4, _p5, _p6, _p7, _p8, _p9, _p10);
+            IGN_PROFILE_END();
           }
         }
       }

gazebo/physics/CMakeLists.txt

@@ -158,13 +158,18 @@ target_compile_definitions(gazebo_physics
   PRIVATE BUILDING_DLL_GZ_PHYSICS
 )
 
+if (${ENABLE_PROFILER})
+  set(IGN_PROFILE_LIBS ${IGNITION-COMMON_LIBRARIES})
+endif()
+
 target_link_libraries(gazebo_physics
   gazebo_common
   gazebo_util
   gazebo_ode
   gazebo_opcode
   ${Boost_LIBRARIES}
   ${IGNITION-TRANSPORT_LIBRARIES}
+  ${IGN_PROFILE_LIBS}
 )
 
 # Link in Bullet support if present