Port Ignition Common's profiler to Gazebo 9 (#2813)

Signed-off-by: ahcorde <ahcorde@gmail.com>
Signed-off-by: Louise Poubel <louise@openrobotics.org>
Co-authored-by: Alejandro Hernández Cordero <alejandro@openrobotics.org>

CMakeLists.txt

@@ -37,6 +37,14 @@ if(NOT DEFINED BUILD_TESTING)
     set(BUILD_TESTING OFF)
 endif()
 
+option(ENABLE_PROFILER "Enable Gazebo Profiler" FALSE)
+
+if(ENABLE_PROFILER)
+  add_definitions("-DGZ_PROFILER_ENABLE=1")
+else()
+  add_definitions("-DGZ_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
@@ -254,7 +262,11 @@ 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/Server.cc

@@ -33,6 +33,7 @@
 #include <sdf/sdf.hh>
 
 #include <ignition/math/Rand.hh>
+#include "gazebo/common/Profiler.hh"
 
 #include "gazebo/gazebo.hh"
 #include "gazebo/transport/transport.hh"
@@ -596,19 +597,31 @@ void Server::Run()
 
   this->dataPtr->initialized = true;
 
+  GZ_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)
   {
+    GZ_PROFILE("Server::Run");
+    GZ_PROFILE_BEGIN("ProcessControlMsgs");
     if (this->dataPtr->lockstep)
       rendering::wait_for_render_request("", 0.100);
 
     this->ProcessControlMsgs();
+    GZ_PROFILE_END();
 
     if (physics::worlds_running())
+    {
+      GZ_PROFILE_BEGIN("run_once");
       sensors::run_once();
+      GZ_PROFILE_END();
+    }
     else if (sensors::running())
+    {
+      GZ_PROFILE_BEGIN("stop");
       sensors::stop();
+      GZ_PROFILE_END();
+    }
 
     if (!this->dataPtr->lockstep)
       common::Time::MSleep(1);

gazebo/common/CMakeLists.txt

@@ -215,6 +215,62 @@ if (HAVE_IGNITION_FUEL_TOOLS)
   )
 endif()
 
+# Start profiler
+set (sources ${sources}
+  Profiler.cc
+)
+
+set (remotery_sources
+  ./Remotery/lib/Remotery.c
+  ./Remotery/lib/Remotery.h
+  RemoteryProfilerImpl.cc
+)
+
+if (APPLE)
+  set (remotery_sources ${remotery_sources}
+    ./Remotery/lib/RemoteryMetal.mm
+  )
+  find_library(FOUNDATION Foundation
+    HINTS /System/Library/Frameworks
+  )
+endif()
+
+list(APPEND sources ${remotery_sources})
+
+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(UNIX OR WIN32)
+  set(RMT_USE_OPENGL 1)
+endif()
+
+if(WIN32)
+  set(RMT_USE_D3D11 1)
+endif()
+
+if(APPLE)
+  set (RMT_USE_METAL 1)
+endif()
+
+configure_file(RemoteryConfig.h.in ${CMAKE_CURRENT_BINARY_DIR}/RemoteryConfig.h)
+
+set(GZ_PROFILER_VIS_PATH share/gazebo-${GAZEBO_MAJOR_VERSION}/profiler_vis)
+
+configure_file(Remotery/gz_remotery_vis.in
+  ${CMAKE_CURRENT_BINARY_DIR}/gz_remotery_vis)
+
+install(PROGRAMS
+  ${CMAKE_CURRENT_BINARY_DIR}/gz_remotery_vis
+  DESTINATION bin)
+
+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})
 
 set (common_headers "")
@@ -262,8 +318,15 @@ target_link_libraries(gazebo_common
   ${TBB_LIBRARIES}
   ${SDFormat_LIBRARIES}
   ${IGNITION-FUEL_TOOLS_LIBRARIES}
+  ${PROFILER_LIBRARIES}
 )
 
+if(ENABLE_PROFILER)
+  target_compile_definitions(gazebo_common
+    PRIVATE BUILDING_DLL_GZ_PROFILER
+  )
+endif()
+
 if (UNIX)
   target_link_libraries(gazebo_common pthread)
 endif()

gazebo/common/Profiler.cc

@@ -0,0 +1,85 @@
+/*
+ * Copyright (C) 2018 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+/*
+  This is a backport of Ignition Common's profiler
+*/
+
+#include "Profiler.hh"
+#include "ProfilerImpl.hh"
+#include "RemoteryProfilerImpl.hh"
+
+using namespace gazebo::common;
+
+//////////////////////////////////////////////////
+Profiler::Profiler():
+  impl(nullptr)
+{
+  impl = new RemoteryProfilerImpl();
+}
+
+//////////////////////////////////////////////////
+Profiler::~Profiler()
+{
+  if (this->impl)
+    delete this->impl;
+  this->impl = nullptr;
+}
+
+//////////////////////////////////////////////////
+void Profiler::SetThreadName(const char * _name)
+{
+  if (this->impl)
+    this->impl->SetThreadName(_name);
+}
+
+//////////////////////////////////////////////////
+void Profiler::LogText(const char * _text)
+{
+  if (this->impl)
+    this->impl->LogText(_text);
+}
+
+//////////////////////////////////////////////////
+void Profiler::BeginSample(const char * _name, uint32_t* _hash)
+{
+  if (this->impl)
+    this->impl->BeginSample(_name, _hash);
+}
+
+//////////////////////////////////////////////////
+void Profiler::EndSample()
+{
+  if (this->impl)
+    this->impl->EndSample();
+}
+
+//////////////////////////////////////////////////
+std::string Profiler::ImplementationName() const
+{
+  if (this->impl)
+    return this->impl->Name();
+  else
+    return "disabled";
+}
+
+
+//////////////////////////////////////////////////
+bool Profiler::Valid() const
+{
+  return this->impl != nullptr;
+}