From 0afd239ac969c513bec290068a3c6fc2e0da15c6 Mon Sep 17 00:00:00 2001
From: Louise Poubel <louise@openrobotics.org>
Date: Wed, 5 Aug 2020 16:39:17 -0700
Subject: [PATCH] always compile profiler

Signed-off-by: Louise Poubel <louise@openrobotics.org>
---
 CMakeLists.txt                        |  2 +-
 gazebo/common/CMakeLists.txt          | 88 +++++++++++++--------------
 gazebo/common/Profiler.cc             |  4 ++
 gazebo/common/ProfilerImpl.hh         |  4 ++
 gazebo/common/RemoteryProfilerImpl.cc |  4 ++
 gazebo/common/RemoteryProfilerImpl.hh |  4 ++
 6 files changed, 60 insertions(+), 46 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 174e6744f3..a5d82407d1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -37,7 +37,7 @@ if(NOT DEFINED BUILD_TESTING)
     set(BUILD_TESTING OFF)
 endif()
 
-option(ENABLE_PROFILER "Enable Ignition Profiler" FALSE)
+option(ENABLE_PROFILER "Enable Gazebo Profiler" FALSE)
 
 if(ENABLE_PROFILER)
   add_definitions("-DGZ_PROFILER_ENABLE=1")
diff --git a/gazebo/common/CMakeLists.txt b/gazebo/common/CMakeLists.txt
index 26c0f6ba43..bc447dec47 100644
--- a/gazebo/common/CMakeLists.txt
+++ b/gazebo/common/CMakeLists.txt
@@ -215,63 +215,61 @@ if (HAVE_IGNITION_FUEL_TOOLS)
   )
 endif()
 
-# Do not install profiler headers.
-if(ENABLE_PROFILER)
-  set (sources ${sources}
-    Profiler.cc
-  )
-
-  set (remotery_sources
-    ./Remotery/lib/Remotery.c
-    ./Remotery/lib/Remotery.h
-    RemoteryProfilerImpl.cc
-  )
+# Start profiler
+set (sources ${sources}
+  Profiler.cc
+)
 
-  if (APPLE)
-    set (remotery_sources ${remotery_sources}
-      ./Remotery/lib/RemoteryMetal.mm
-    )
-    find_library(FOUNDATION Foundation
-      HINTS /System/Library/Frameworks
-    )
-  endif()
+set (remotery_sources
+  ./Remotery/lib/Remotery.c
+  ./Remotery/lib/Remotery.h
+  RemoteryProfilerImpl.cc
+)
 
-  list(APPEND sources ${remotery_sources})
+if (APPLE)
+  set (remotery_sources ${remotery_sources}
+    ./Remotery/lib/RemoteryMetal.mm
+  )
+  find_library(FOUNDATION Foundation
+    HINTS /System/Library/Frameworks
+  )
+endif()
 
-  set(RMT_ENABLED 1)
-  set(RMT_USE_TINYCRT 0)
-  set(RMT_USE_CUDA 0)
-  set(RMT_USE_D3D11 0)
-  set(RMT_USE_OPENGL 0)
-  set(RMT_USE_METAL 0)
+list(APPEND sources ${remotery_sources})
 
-  if(UNIX OR WIN32)
-    set(RMT_USE_OPENGL 1)
-  endif()
+set(RMT_ENABLED 1)
+set(RMT_USE_TINYCRT 0)
+set(RMT_USE_CUDA 0)
+set(RMT_USE_D3D11 0)
+set(RMT_USE_OPENGL 0)
+set(RMT_USE_METAL 0)
 
-  if(WIN32)
-    set(RMT_USE_D3D11 1)
-  endif()
+if(UNIX OR WIN32)
+  set(RMT_USE_OPENGL 1)
+endif()
 
-  if(APPLE)
-    set (RMT_USE_METAL 1)
-  endif()
+if(WIN32)
+  set(RMT_USE_D3D11 1)
+endif()
 
-  configure_file(RemoteryConfig.h.in ${CMAKE_CURRENT_BINARY_DIR}/RemoteryConfig.h)
+if(APPLE)
+  set (RMT_USE_METAL 1)
+endif()
 
-  set(GZ_PROFILER_VIS_PATH share/gazebo-${GAZEBO_MAJOR_VERSION}/profiler_vis)
+configure_file(RemoteryConfig.h.in ${CMAKE_CURRENT_BINARY_DIR}/RemoteryConfig.h)
 
-  configure_file(Remotery/gz_remotery_vis.in
-    ${CMAKE_CURRENT_BINARY_DIR}/gz_remotery_vis)
+set(GZ_PROFILER_VIS_PATH share/gazebo-${GAZEBO_MAJOR_VERSION}/profiler_vis)
 
-  install(PROGRAMS
-    ${CMAKE_CURRENT_BINARY_DIR}/gz_remotery_vis
-    DESTINATION bin)
+configure_file(Remotery/gz_remotery_vis.in
+  ${CMAKE_CURRENT_BINARY_DIR}/gz_remotery_vis)
 
-  install(DIRECTORY Remotery/vis/
-          DESTINATION ${CMAKE_INSTALL_PREFIX}/${GZ_PROFILER_VIS_PATH})
+install(PROGRAMS
+  ${CMAKE_CURRENT_BINARY_DIR}/gz_remotery_vis
+  DESTINATION bin)
 
-endif()
+install(DIRECTORY Remotery/vis/
+        DESTINATION ${CMAKE_INSTALL_PREFIX}/${GZ_PROFILER_VIS_PATH})
+# End profiler
 
 gz_build_tests(${gtest_sources} EXTRA_LIBS gazebo_common ${tinyxml_LIBRARIES})
 
diff --git a/gazebo/common/Profiler.cc b/gazebo/common/Profiler.cc
index 5c1abad644..fb17f315d9 100644
--- a/gazebo/common/Profiler.cc
+++ b/gazebo/common/Profiler.cc
@@ -15,6 +15,10 @@
  *
  */
 
+/*
+  This is a backport of Ignition Common's profiler
+*/
+
 #include "Profiler.hh"
 #include "ProfilerImpl.hh"
 #include "RemoteryProfilerImpl.hh"
diff --git a/gazebo/common/ProfilerImpl.hh b/gazebo/common/ProfilerImpl.hh
index bf96764da5..f3bfc59326 100644
--- a/gazebo/common/ProfilerImpl.hh
+++ b/gazebo/common/ProfilerImpl.hh
@@ -15,6 +15,10 @@
  *
  */
 
+/*
+  This is a backport of Ignition Common's profiler
+*/
+
 #ifndef GAZEBO_COMMON_PROFILERIMPL_HH_
 #define GAZEBO_COMMON_PROFILERIMPL_HH_
 
diff --git a/gazebo/common/RemoteryProfilerImpl.cc b/gazebo/common/RemoteryProfilerImpl.cc
index b025753a50..0086f0b97d 100644
--- a/gazebo/common/RemoteryProfilerImpl.cc
+++ b/gazebo/common/RemoteryProfilerImpl.cc
@@ -15,6 +15,10 @@
  *
  */
 
+/*
+  This is a backport of Ignition Common's profiler
+*/
+
 #include "RemoteryProfilerImpl.hh"
 #include "gazebo/common/Console.hh"
 
diff --git a/gazebo/common/RemoteryProfilerImpl.hh b/gazebo/common/RemoteryProfilerImpl.hh
index 03f7bf8503..9643a9c25f 100644
--- a/gazebo/common/RemoteryProfilerImpl.hh
+++ b/gazebo/common/RemoteryProfilerImpl.hh
@@ -15,6 +15,10 @@
  *
  */
 
+/*
+  This is a backport of Ignition Common's profiler
+*/
+
 #ifndef GAZEBO_COMMON_REMOTERYPROFILERIMPL_HH_
 #define GAZEBO_COMMON_REMOTERYPROFILERIMPL_HH_