Merge pull request #191 from jorisv/topic/tracy-wrapper

Use tracy.cmake to easily set/remove tracy dependency

CHANGELOG.md

@@ -12,6 +12,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Use placement-new for `Workspace` and `Results` in solvers (FDDP and ProxDDP)
 - Deprecate typedef for `std::vector<T, Eigen::aligned_allocator<T>>`
 - Deprecate function template `allocate_shared_eigen_aligned<T>`
+- Use custom macro defined in `aligator/tracy.hpp` to call Tracy ([#191](https://github.com/Simple-Robotics/aligator/pull/191))
 
 ### Fixed
 

CMakeLists.txt

@@ -74,6 +74,7 @@ compute_project_args(PROJECT_ARGS LANGUAGES CXX)
 project(${PROJECT_NAME} ${PROJECT_ARGS})
 set(CMAKE_VERBOSE_MAKEFILE OFF)
 
+include(${JRL_CMAKE_MODULES}/tracy.cmake)
 include(${JRL_CMAKE_MODULES}/boost.cmake)
 include(${JRL_CMAKE_MODULES}/ide.cmake)
 include(${JRL_CMAKE_MODULES}/python.cmake)

gar/include/aligator/gar/block-tridiagonal.hpp

@@ -4,7 +4,7 @@
 
 #include "aligator/gar/blk-matrix.hpp"
 #include "aligator/eigen-macros.hpp"
-#include <tracy/Tracy.hpp>
+#include "aligator/tracy.hpp"
 
 namespace aligator {
 namespace gar {
@@ -81,7 +81,7 @@ bool symmetricBlockTridiagSolve(std::vector<MatrixType> &subdiagonal,
                                 const std::vector<MatrixType> &superdiagonal,
                                 BlkMatrix<RhsType, -1, 1> &rhs,
                                 std::vector<DecType> &facs) {
-  ZoneScoped;
+  ALIGATOR_TRACY_ZONE_SCOPED;
   ALIGATOR_NOMALLOC_SCOPED;
 
   if (subdiagonal.size() != superdiagonal.size() ||
@@ -183,7 +183,7 @@ bool symmetricBlockTridiagSolveDownLooking(
     std::vector<MatrixType> &subdiagonal, std::vector<MatrixType> &diagonal,
     std::vector<MatrixType> &superdiagonal, BlkMatrix<RhsType, -1, 1> &rhs,
     std::vector<DecType> &facs) {
-  ZoneScoped;
+  ALIGATOR_TRACY_ZONE_SCOPED;
   ALIGATOR_NOMALLOC_SCOPED;
 
   if (subdiagonal.size() != superdiagonal.size() ||

gar/include/aligator/gar/dense-riccati.hxx

@@ -2,6 +2,7 @@
 
 #include "dense-riccati.hpp"
 #include "lqr-problem.hpp"
+#include "aligator/tracy.hpp"
 
 namespace aligator::gar {
 
@@ -44,7 +45,7 @@ template <typename Scalar> void RiccatiSolverDense<Scalar>::initialize() {
 template <typename Scalar>
 bool RiccatiSolverDense<Scalar>::backward(const Scalar mudyn,
                                           const Scalar mueq) {
-  ZoneScoped;
+  ALIGATOR_TRACY_ZONE_SCOPED;
   const auto &stages = problem_->stages;
 
   const uint N = (uint)problem_->horizon();

gar/include/aligator/gar/parallel-solver.hpp

@@ -5,6 +5,7 @@
 #include "aligator/gar/fwd.hpp"
 #include "aligator/gar/riccati-base.hpp"
 #include "aligator/gar/riccati-impl.hpp"
+#include "aligator/tracy.hpp"
 
 namespace aligator {
 namespace gar {
@@ -40,7 +41,7 @@ class ParallelRiccatiSolver : public RiccatiSolverBase<_Scalar> {
   void allocateLeg(uint start, uint end, bool last_leg);
 
   static void setupKnot(KnotType &knot, const Scalar mudyn) {
-    ZoneScoped;
+    ALIGATOR_TRACY_ZONE_SCOPED;
     ALIGATOR_NOMALLOC_SCOPED;
     knot.Gx = knot.A.transpose();
     knot.Gu = knot.B.transpose();

gar/include/aligator/gar/parallel-solver.hxx

@@ -6,6 +6,7 @@
 #include "aligator/gar/block-tridiagonal.hpp"
 #include "aligator/gar/work.hpp"
 #include "aligator/gar/lqr-problem.hpp"
+#include "aligator/tracy.hpp"
 
 #include "aligator/threads.hpp"
 
@@ -16,7 +17,7 @@ template <typename Scalar>
 ParallelRiccatiSolver<Scalar>::ParallelRiccatiSolver(
     LQRProblemTpl<Scalar> &problem, const uint num_threads)
     : Base(), numThreads(num_threads), problem_(&problem) {
-  ZoneScoped;
+  ALIGATOR_TRACY_ZONE_SCOPED;
 
   uint N = (uint)problem.horizon();
   for (uint i = 0; i < num_threads; i++) {
@@ -40,7 +41,7 @@ ParallelRiccatiSolver<Scalar>::ParallelRiccatiSolver(
 template <typename Scalar>
 void ParallelRiccatiSolver<Scalar>::allocateLeg(uint start, uint end,
                                                 bool last_leg) {
-  ZoneScoped;
+  ALIGATOR_TRACY_ZONE_SCOPED;
   for (uint t = start; t < end; t++) {
     KnotType &knot = problem_->stages[t];
     if (!last_leg)
@@ -52,7 +53,7 @@ void ParallelRiccatiSolver<Scalar>::allocateLeg(uint start, uint end,
 template <typename Scalar>
 void ParallelRiccatiSolver<Scalar>::assembleCondensedSystem(
     const Scalar mudyn) {
-  ZoneScoped;
+  ALIGATOR_TRACY_ZONE_SCOPED;
   std::vector<MatrixXs> &subdiagonal = condensedKktSystem.subdiagonal;
   std::vector<MatrixXs> &diagonal = condensedKktSystem.diagonal;
   std::vector<MatrixXs> &superdiagonal = condensedKktSystem.superdiagonal;
@@ -102,7 +103,7 @@ bool ParallelRiccatiSolver<Scalar>::backward(const Scalar mudyn,
                                              const Scalar mueq) {
 
   ALIGATOR_NOMALLOC_SCOPED;
-  ZoneScopedN("parallel_backward");
+  ALIGATOR_TRACY_ZONE_SCOPED_N("parallel_backward");
   auto N = static_cast<uint>(problem_->horizon());
   for (uint i = 0; i < numThreads - 1; i++) {
     uint end = get_work(N, i, numThreads).end;
@@ -116,7 +117,7 @@ bool ParallelRiccatiSolver<Scalar>::backward(const Scalar mudyn,
 #ifdef __linux__
     char *thrdname = new char[16];
     snprintf(thrdname, 16, "thread%d[c%d]", int(i), sched_getcpu());
-    tracy::SetThreadName(thrdname);
+    ALIGATOR_TRACY_SET_THREAD_NAME(thrdname);
 #endif
     auto [beg, end] = get_work(N, i, numThreads);
     boost::span<const KnotType> stview =
@@ -164,7 +165,7 @@ bool ParallelRiccatiSolver<Scalar>::forward(
     VectorOfVectors &xs, VectorOfVectors &us, VectorOfVectors &vs,
     VectorOfVectors &lbdas, const std::optional<ConstVectorRef> &) const {
   ALIGATOR_NOMALLOC_SCOPED;
-  ZoneScopedN("parallel_forward");
+  ALIGATOR_TRACY_ZONE_SCOPED_N("parallel_forward");
   uint N = (uint)problem_->horizon();
   for (uint i = 0; i < numThreads; i++) {
     uint i0 = get_work(N, i, numThreads).beg;
@@ -198,7 +199,7 @@ bool ParallelRiccatiSolver<Scalar>::forward(
 template <typename Scalar>
 void ParallelRiccatiSolver<Scalar>::initializeTridiagSystem(
     const std::vector<long> &dims) {
-  ZoneScoped;
+  ALIGATOR_TRACY_ZONE_SCOPED;
   std::vector<MatrixXs> subdiagonal;
   std::vector<MatrixXs> diagonal;
   std::vector<MatrixXs> superdiagonal;

gar/include/aligator/gar/proximal-riccati.hxx

@@ -3,7 +3,7 @@
 #include "./proximal-riccati.hpp"
 #include "./lqr-problem.hpp"
 
-#include <tracy/Tracy.hpp>
+#include "aligator/tracy.hpp"
 
 namespace aligator::gar {
 
@@ -13,7 +13,7 @@ ProximalRiccatiSolver<Scalar>::ProximalRiccatiSolver(
     : Base(), kkt0(problem.stages[0].nx, problem.nc0(), problem.ntheta()),
       thGrad(problem.ntheta()), thHess(problem.ntheta(), problem.ntheta()),
       problem_(&problem) {
-  ZoneScoped;
+  ALIGATOR_TRACY_ZONE_SCOPED;
   auto N = uint(problem_->horizon());
   auto &knots = problem_->stages;
   datas.reserve(N + 1);
@@ -30,7 +30,7 @@ template <typename Scalar>
 bool ProximalRiccatiSolver<Scalar>::backward(const Scalar mudyn,
                                              const Scalar mueq) {
   ALIGATOR_NOMALLOC_SCOPED;
-  ZoneNamed(Zone1, true);
+  ALIGATOR_TRACY_ZONE_NAMED(Zone1, true);
   bool ret = Impl::backwardImpl(problem_->stages, mudyn, mueq, datas);
 
   StageFactor<Scalar> &d0 = datas[0];
@@ -39,7 +39,7 @@ bool ProximalRiccatiSolver<Scalar>::backward(const Scalar mudyn,
   vinit.vx = vinit.pvec;
   // initial stage
   {
-    ZoneNamedN(Zone2, "factor_initial", true);
+    ALIGATOR_TRACY_ZONE_NAMED_N(Zone2, "factor_initial", true);
     kkt0.mat(0, 0) = vinit.Vxx;
     kkt0.mat(1, 0) = problem_->G0;
     kkt0.mat(0, 1) = problem_->G0.transpose();
@@ -65,7 +65,7 @@ bool ProximalRiccatiSolver<Scalar>::forward(
     std::vector<VectorXs> &xs, std::vector<VectorXs> &us,
     std::vector<VectorXs> &vs, std::vector<VectorXs> &lbdas,
     const std::optional<ConstVectorRef> &theta_) const {
-  ZoneScoped;
+  ALIGATOR_TRACY_ZONE_SCOPED;
 
   // solve initial stage
   Impl::computeInitial(xs[0], lbdas[0], kkt0, theta_);

gar/include/aligator/gar/riccati-impl.hxx

@@ -4,15 +4,15 @@
 #include "./riccati-impl.hpp"
 #include "./lqr-problem.hpp"
 
-#include <tracy/Tracy.hpp>
+#include "aligator/tracy.hpp"
 
 namespace aligator {
 namespace gar {
 template <typename Scalar>
 bool ProximalRiccatiKernel<Scalar>::backwardImpl(
     boost::span<const KnotType> stages, const Scalar mudyn, const Scalar mueq,
     boost::span<StageFactorType> datas) {
-  ZoneScoped;
+  ALIGATOR_TRACY_ZONE_SCOPED;
   // terminal node
   if (datas.size() == 0)
     return true;
@@ -38,7 +38,7 @@ template <typename Scalar>
 void ProximalRiccatiKernel<Scalar>::terminalSolve(const KnotType &model,
                                                   const Scalar mueq,
                                                   StageFactorType &d) {
-  ZoneScoped;
+  ALIGATOR_TRACY_ZONE_SCOPED;
   value_t &vc = d.vm;
   // fill cost-to-go matrix
   VectorRef kff = d.ff.blockSegment(0);
@@ -101,7 +101,7 @@ template <typename Scalar>
 void ProximalRiccatiKernel<Scalar>::computeInitial(
     VectorRef x0, VectorRef lbd0, const kkt0_t &kkt0,
     const std::optional<ConstVectorRef> &theta_) {
-  ZoneScoped;
+  ALIGATOR_TRACY_ZONE_SCOPED;
   assert(kkt0.chol.info() == Eigen::Success);
   x0 = kkt0.ff.blockSegment(0);
   lbd0 = kkt0.ff.blockSegment(1);
@@ -117,7 +117,7 @@ void ProximalRiccatiKernel<Scalar>::stageKernelSolve(const KnotType &model,
                                                      value_t &vn,
                                                      const Scalar mudyn,
                                                      const Scalar mueq) {
-  ZoneScoped;
+  ALIGATOR_TRACY_ZONE_SCOPED;
   // step 1. compute decomposition of the E matrix
   d.Efact.compute(model.E);
   d.EinvP.setIdentity();
@@ -204,7 +204,7 @@ void ProximalRiccatiKernel<Scalar>::stageKernelSolve(const KnotType &model,
   RowMatrixRef Lth = d.fth.blockRow(2);
   RowMatrixRef Yth = d.fth.blockRow(3);
   if (model.nth > 0) {
-    ZoneScopedN("stage_solve_parameter");
+    ALIGATOR_TRACY_ZONE_SCOPED_N("stage_solve_parameter");
 
     // store Pxttilde = -Einv * Pxt
     // this is like ptilde
@@ -255,7 +255,7 @@ bool ProximalRiccatiKernel<Scalar>::forwardImpl(
     boost::span<const StageFactorType> datas, boost::span<VectorXs> xs,
     boost::span<VectorXs> us, boost::span<VectorXs> vs,
     boost::span<VectorXs> lbdas, const std::optional<ConstVectorRef> &theta_) {
-  ZoneScoped;
+  ALIGATOR_TRACY_ZONE_SCOPED;
 
   uint N = (uint)(datas.size() - 1);
   for (uint t = 0; t <= N; t++) {

include/aligator/core/lagrangian.hpp

@@ -3,6 +3,7 @@
 #include "aligator/core/traj-opt-problem.hpp"
 #include "aligator/core/cost-abstract.hpp"
 #include "aligator/gar/blk-matrix.hpp"
+#include "aligator/tracy.hpp"
 
 namespace aligator {
 
@@ -24,7 +25,7 @@ template <typename Scalar> struct LagrangianDerivatives {
     using StageData = StageDataTpl<Scalar>;
     const std::size_t nsteps = problem.numSteps();
 
-    ZoneScopedN("LagrangianDerivatives::compute");
+    ALIGATOR_TRACY_ZONE_SCOPED_N("LagrangianDerivatives::compute");
     ALIGATOR_NOMALLOC_SCOPED;
 
     math::setZero(Lxs);

include/aligator/core/traj-opt-problem.hxx

@@ -4,7 +4,7 @@
 
 #include "aligator/core/traj-opt-problem.hpp"
 #include "aligator/utils/mpc-util.hpp"
-#include "tracy/Tracy.hpp"
+#include "aligator/tracy.hpp"
 
 #include <fmt/format.h>
 
@@ -57,7 +57,7 @@ template <typename Scalar>
 Scalar TrajOptProblemTpl<Scalar>::evaluate(
     const std::vector<VectorXs> &xs, const std::vector<VectorXs> &us,
     Data &prob_data, ALIGATOR_MAYBE_UNUSED std::size_t num_threads) const {
-  ZoneScopedN("TrajOptProblem::evaluate");
+  ALIGATOR_TRACY_ZONE_SCOPED_N("TrajOptProblem::evaluate");
   const std::size_t nsteps = numSteps();
   if (xs.size() != nsteps + 1)
     ALIGATOR_RUNTIME_ERROR(fmt::format(
@@ -93,7 +93,7 @@ void TrajOptProblemTpl<Scalar>::computeDerivatives(
     const std::vector<VectorXs> &xs, const std::vector<VectorXs> &us,
     Data &prob_data, ALIGATOR_MAYBE_UNUSED std::size_t num_threads,
     bool compute_second_order) const {
-  ZoneScopedN("TrajOptProblem::computeDerivatives");
+  ALIGATOR_TRACY_ZONE_SCOPED_N("TrajOptProblem::computeDerivatives");
   const std::size_t nsteps = numSteps();
   if (xs.size() != nsteps + 1)
     ALIGATOR_RUNTIME_ERROR(fmt::format(
@@ -170,7 +170,7 @@ template <typename Scalar>
 Scalar TrajOptProblemTpl<Scalar>::computeTrajectoryCost(
     const Data &problem_data) const {
   ALIGATOR_NOMALLOC_SCOPED;
-  ZoneScoped;
+  ALIGATOR_TRACY_ZONE_SCOPED;
   Scalar traj_cost = 0.;
 
   const std::size_t nsteps = numSteps();

include/aligator/solvers/proxddp/merit-function.hxx

@@ -4,6 +4,7 @@
 #include "merit-function.hpp"
 #include "workspace.hpp"
 #include "aligator/core/lagrangian.hpp"
+#include "aligator/tracy.hpp"
 
 namespace aligator {
 
@@ -31,7 +32,7 @@ Scalar PDALFunction<Scalar>::evaluate(const Scalar mu,
                                       const std::vector<VectorXs> &lams,
                                       const std::vector<VectorXs> &vs,
                                       Workspace &workspace) {
-  ZoneScoped;
+  ALIGATOR_TRACY_ZONE_SCOPED;
   TrajOptData &prob_data = workspace.problem_data;
   Scalar penalty_value = 0.;
   const std::vector<VectorXs> &lams_plus = workspace.lams_plus;
@@ -62,7 +63,7 @@ Scalar PDALFunction<Scalar>::directionalDerivative(
     const Scalar mu, const TrajOptProblem &problem,
     const std::vector<VectorXs> &lams, const std::vector<VectorXs> &vs,
     Workspace &workspace) {
-  ZoneScoped;
+  ALIGATOR_TRACY_ZONE_SCOPED;
   TrajOptData &prob_data = workspace.problem_data;
   const std::size_t nsteps = workspace.nsteps;