[Gazebo 9] Added Profiler to gazebo::rendering and gzclient (#2836)

Signed-off-by: ahcorde <ahcorde@gmail.com> Signed-off-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: Louise Poubel <louise@openrobotics.org>
gazebosim · Oct 3, 2020 · ce6570f · ce6570f
1 parent fededa7
commit ce6570f
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Showing 35 changed files with 123 additions and 12 deletions.
diff --git a/gazebo/common/Profiler.hh b/gazebo/common/Profiler.hh
@@ -27,7 +27,6 @@
 #include <string>
 
 #include "gazebo/common/SingletonT.hh"
-#include "gazebo/common/Remotery/lib/Remotery.h"
 #include "gazebo/util/system.hh"
 
 /// \brief Explicit instantiation for typed SingletonT.

diff --git a/gazebo/gui/GLWidget.cc b/gazebo/gui/GLWidget.cc
@@ -24,6 +24,7 @@
 
 #include "gazebo/common/Assert.hh"
 #include "gazebo/common/Exception.hh"
+#include "gazebo/common/Profiler.hh"
 #include "gazebo/rendering/Conversions.hh"
 #include "gazebo/rendering/FPSViewController.hh"
 #include "gazebo/rendering/Heightmap.hh"
@@ -279,16 +280,27 @@ void GLWidget::paintEvent(QPaintEvent *_e)
   rendering::UserCameraPtr cam = gui::get_active_camera();
   if (cam && cam->Initialized())
   {
-    event::Events::preRender();
-
+    {
+      GZ_PROFILE("gui::GLWidget::paintEvent pre-render");
+      event::Events::preRender();
+    }
     // Tell all the cameras to render
-    event::Events::render();
+    {
+      GZ_PROFILE("gui::GLWidget::paintEvent render");
+      event::Events::render();
+    }
 
-    event::Events::postRender();
+    {
+      GZ_PROFILE("gui::GLWidget::paintEvent post-render");
+      event::Events::postRender();
+    }
   }
   else
   {
-    event::Events::preRender();
+    {
+      GZ_PROFILE("gui::GLWidget::paintEvent pre-render");
+      event::Events::preRender();
+    }
   }
 
   _e->accept();

diff --git a/gazebo/gui/GuiIface.cc b/gazebo/gui/GuiIface.cc
@@ -34,6 +34,7 @@
 #include "gazebo/common/ModelDatabase.hh"
 #include "gazebo/common/Console.hh"
 #include "gazebo/common/Plugin.hh"
+#include "gazebo/common/Profiler.hh"
 #include "gazebo/common/CommonTypes.hh"
 #include "gazebo/gui/SplashScreen.hh"
 #include "gazebo/gui/MainWindow.hh"
@@ -382,6 +383,8 @@ unsigned int gui::get_entity_id(const std::string &_name)
 /////////////////////////////////////////////////
 bool gui::run(int _argc, char **_argv)
 {
+  GZ_PROFILE_THREAD_NAME("gzclient");
+
   // Initialize the informational logger. This will log warnings, and errors.
   gzLogInit("client-", "gzclient.log");
 

diff --git a/gazebo/gui/main.cc b/gazebo/gui/main.cc
@@ -22,6 +22,9 @@
 //////////////////////////////////////////////////
 int main(int _argc, char **_argv)
 {
+#ifndef _WIN32
+  ::setenv("RMT_PORT", "1501", true);
+#endif
   Q_INIT_RESOURCE(resources);
   int result = 0;
   try

diff --git a/gazebo/rendering/ApplyWrenchVisual.cc b/gazebo/rendering/ApplyWrenchVisual.cc
@@ -19,6 +19,7 @@
 #include <ignition/math/Matrix4.hh>
 
 #include "gazebo/common/MeshManager.hh"
+#include "gazebo/common/Profiler.hh"
 
 #include "gazebo/rendering/Material.hh"
 #include "gazebo/rendering/MovableText.hh"
@@ -307,6 +308,7 @@ void ApplyWrenchVisual::SetTorque(const ignition::math::Vector3d &_torqueVector,
 ///////////////////////////////////////////////////
 void ApplyWrenchVisual::UpdateForceVisual()
 {
+  GZ_PROFILE("ApplyWrenchVisual::UpdateForceVisual");
   ApplyWrenchVisualPrivate *dPtr =
       reinterpret_cast<ApplyWrenchVisualPrivate *>(this->dataPtr);
 
@@ -342,6 +344,7 @@ void ApplyWrenchVisual::UpdateForceVisual()
 ///////////////////////////////////////////////////
 void ApplyWrenchVisual::UpdateTorqueVisual()
 {
+  GZ_PROFILE("ApplyWrenchVisual::UpdateTorqueVisual");
   ApplyWrenchVisualPrivate *dPtr =
       reinterpret_cast<ApplyWrenchVisualPrivate *>(this->dataPtr);
 
@@ -380,6 +383,7 @@ void ApplyWrenchVisual::UpdateTorqueVisual()
 /////////////////////////////////////////////////
 void ApplyWrenchVisual::Resize()
 {
+  GZ_PROFILE("ApplyWrenchVisual::Resize");
   ApplyWrenchVisualPrivate *dPtr =
       reinterpret_cast<ApplyWrenchVisualPrivate *>(this->dataPtr);
 

diff --git a/gazebo/rendering/Camera.cc b/gazebo/rendering/Camera.cc
@@ -36,6 +36,7 @@
 #include "gazebo/common/Events.hh"
 #include "gazebo/common/Console.hh"
 #include "gazebo/common/Exception.hh"
+#include "gazebo/common/Profiler.hh"
 #include "gazebo/common/VideoEncoder.hh"
 
 #include "gazebo/rendering/ogre_gazebo.h"
@@ -408,6 +409,7 @@ void Camera::SetScene(ScenePtr _scene)
 //////////////////////////////////////////////////
 void Camera::Update()
 {
+  GZ_PROFILE("rendering::Camera::Update");
   std::lock_guard<std::mutex> lock(this->dataPtr->receiveMutex);
 
   // Process all the command messages.
@@ -539,6 +541,7 @@ void Camera::Update()
 //////////////////////////////////////////////////
 void Camera::Render(const bool _force)
 {
+  GZ_PROFILE("rendering::Camera::Render");
   if (this->initialized && (_force ||
        common::Time::GetWallTime() - this->lastRenderWallTime >=
         this->dataPtr->renderPeriod))

diff --git a/gazebo/rendering/CameraVisual.cc b/gazebo/rendering/CameraVisual.cc
@@ -17,6 +17,7 @@
 
 #include <boost/bind.hpp>
 
+#include "gazebo/common/Profiler.hh"
 #include "gazebo/rendering/ogre_gazebo.h"
 #include "gazebo/rendering/RenderEngine.hh"
 #include "gazebo/rendering/DynamicLines.hh"
@@ -127,11 +128,14 @@ void CameraVisual::Load(const msgs::CameraSensor &_msg)
 /////////////////////////////////////////////////
 void CameraVisual::Update()
 {
+  GZ_PROFILE("rendering::CameraVisual::Update");
   CameraVisualPrivate *dPtr =
       reinterpret_cast<CameraVisualPrivate *>(this->dataPtr);
 
   if (!dPtr->camera)
+  {
     return;
+  }
 
   dPtr->camera->Render();
 }

diff --git a/gazebo/rendering/ContactVisual.cc b/gazebo/rendering/ContactVisual.cc
@@ -19,6 +19,7 @@
  */
 #include <boost/bind.hpp>
 
+#include "gazebo/common/Profiler.hh"
 #include "gazebo/common/MeshManager.hh"
 #include "gazebo/transport/Node.hh"
 #include "gazebo/transport/Subscriber.hh"
@@ -69,13 +70,16 @@ ContactVisual::~ContactVisual()
 /////////////////////////////////////////////////
 void ContactVisual::Update()
 {
+  GZ_PROFILE("rendering::ContactVisual::Update");
   ContactVisualPrivate *dPtr =
       reinterpret_cast<ContactVisualPrivate *>(this->dataPtr);
 
   boost::mutex::scoped_lock lock(dPtr->mutex);
 
   if (!dPtr->contactsMsg || !dPtr->receivedMsg)
+  {
     return;
+  }
 
   // The following values are used to calculate normal scaling factor based
   // on force value.

diff --git a/gazebo/rendering/DynamicLines.cc b/gazebo/rendering/DynamicLines.cc
@@ -23,6 +23,7 @@
 
 #include "gazebo/common/Console.hh"
 #include "gazebo/common/Exception.hh"
+#include "gazebo/common/Profiler.hh"
 #include "gazebo/rendering/DynamicLines.hh"
 
 using namespace gazebo;
@@ -158,6 +159,7 @@ void DynamicLines::Clear()
 /////////////////////////////////////////////////
 void DynamicLines::Update()
 {
+  GZ_PROFILE("rendering::DynamicLines::Update");
   if (this->dirty && this->points.size() > 1)
     this->FillHardwareBuffers();
 }

diff --git a/gazebo/rendering/FPSViewController.cc b/gazebo/rendering/FPSViewController.cc
@@ -14,6 +14,7 @@
  * limitations under the License.
  *
 */
+#include "gazebo/common/Profiler.hh"
 #include "gazebo/common/MouseEvent.hh"
 
 #include "gazebo/rendering/UserCamera.hh"
@@ -52,6 +53,7 @@ void FPSViewController::Init()
 //////////////////////////////////////////////////
 void FPSViewController::Update()
 {
+  GZ_PROFILE("rendering::FPSViewController::Update");
   if (this->xVelocity != ignition::math::Vector3d::Zero ||
       this->yVelocity != ignition::math::Vector3d::Zero)
   {

diff --git a/gazebo/rendering/GpuLaser.cc b/gazebo/rendering/GpuLaser.cc
@@ -34,6 +34,7 @@
 #include "gazebo/common/Events.hh"
 #include "gazebo/common/Console.hh"
 #include "gazebo/common/Exception.hh"
+#include "gazebo/common/Profiler.hh"
 #include "gazebo/common/Mesh.hh"
 #include "gazebo/common/MeshManager.hh"
 #include "gazebo/common/Timer.hh"
@@ -412,6 +413,7 @@ void GpuLaser::notifyRenderSingleObject(Ogre::Renderable *_rend,
 //////////////////////////////////////////////////
 void GpuLaser::RenderImpl()
 {
+  GZ_PROFILE("rendering::GpuLaser::RenderImpl");
   common::Timer firstPassTimer, secondPassTimer;
 
   firstPassTimer.Start();

diff --git a/gazebo/rendering/LaserVisual.cc b/gazebo/rendering/LaserVisual.cc
@@ -17,6 +17,7 @@
 
 #include <boost/bind.hpp>
 
+#include "gazebo/common/Profiler.hh"
 #include "gazebo/common/MeshManager.hh"
 #include "gazebo/transport/transport.hh"
 
@@ -89,6 +90,7 @@ void LaserVisual::OnScan(ConstLaserScanStampedPtr &_msg)
 /////////////////////////////////////////////////
 void LaserVisual::Update()
 {
+  GZ_PROFILE("rendering::LaserVisual::Update");
   LaserVisualPrivate *dPtr =
       reinterpret_cast<LaserVisualPrivate *>(this->dataPtr);
 
@@ -103,7 +105,9 @@ void LaserVisual::Update()
   }
 
   if (!dPtr->laserMsg || !dPtr->receivedMsg)
+  {
     return;
+  }
 
   dPtr->receivedMsg = false;
 

diff --git a/gazebo/rendering/LensFlare.cc b/gazebo/rendering/LensFlare.cc
@@ -18,6 +18,7 @@
 #include <mutex>
 
 #include "gazebo/common/Assert.hh"
+#include "gazebo/common/Profiler.hh"
 
 #include "gazebo/transport/Node.hh"
 
@@ -443,6 +444,7 @@ void LensFlare::SetScale(const double _scale)
 //////////////////////////////////////////////////
 void LensFlare::Update()
 {
+  GZ_PROFILE("rendering::LensFlare::Update");
   std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
   // remove lens flare if we got a delete msg
   if (this->dataPtr->removeLensFlare)
@@ -468,7 +470,9 @@ void LensFlare::Update()
     }
   }
   if (!directionalLight)
+  {
     return;
+  }
 
   this->dataPtr->lightName = directionalLight->Name();
 

diff --git a/gazebo/rendering/Light.cc b/gazebo/rendering/Light.cc
@@ -22,6 +22,7 @@
 #include "gazebo/common/Events.hh"
 #include "gazebo/common/Exception.hh"
 #include "gazebo/common/Console.hh"
+#include "gazebo/common/Profiler.hh"
 
 #include "gazebo/rendering/Scene.hh"
 #include "gazebo/rendering/DynamicLines.hh"
@@ -114,6 +115,7 @@ void Light::Load()
 //////////////////////////////////////////////////
 void Light::Update()
 {
+  GZ_PROFILE("rendering::Light::Update");
   // shadow support is also affected by light type so set type first.
   this->SetLightType(this->dataPtr->sdf->Get<std::string>("type"));
   this->SetCastShadows(this->dataPtr->sdf->Get<bool>("cast_shadows"));

diff --git a/gazebo/rendering/MarkerVisual.cc b/gazebo/rendering/MarkerVisual.cc
@@ -15,6 +15,7 @@
  *
 */
 #include "gazebo/common/Console.hh"
+#include "gazebo/common/Profiler.hh"
 #include "gazebo/rendering/RenderEvents.hh"
 #include "gazebo/rendering/DynamicLines.hh"
 #include "gazebo/rendering/Scene.hh"
@@ -188,6 +189,7 @@ common::Time MarkerVisual::Lifetime() const
 /////////////////////////////////////////////////
 void MarkerVisual::DynamicRenderable(const ignition::msgs::Marker &_msg)
 {
+  GZ_PROFILE("rendering::MarkerVisual::DynamicRenderable");
   if (!this->dPtr->dynamicRenderable)
   {
     switch (_msg.type())

diff --git a/gazebo/rendering/Material.cc b/gazebo/rendering/Material.cc
@@ -15,6 +15,7 @@
  *
 */
 #include "gazebo/common/Color.hh"
+#include "gazebo/common/Profiler.hh"
 #include "gazebo/rendering/ogre_gazebo.h"
 #include "gazebo/common/Console.hh"
 #include "gazebo/rendering/RenderEngine.hh"
@@ -140,6 +141,7 @@ void Material::CreateMaterials()
 //////////////////////////////////////////////////
 void Material::Update(const gazebo::common::Material *_mat)
 {
+  GZ_PROFILE("rendering::Material::Update");
   Ogre::MaterialPtr matPtr;
 
   if (Ogre::MaterialManager::getSingleton().resourceExists(_mat->GetName()))

diff --git a/gazebo/rendering/MovableText.cc b/gazebo/rendering/MovableText.cc
@@ -33,6 +33,7 @@
 
 #include "gazebo/common/common.hh"
 #include "gazebo/common/Assert.hh"
+#include "gazebo/common/Profiler.hh"
 #include "gazebo/rendering/MovableText.hh"
 
 #define POS_TEX_BINDING    0
@@ -176,6 +177,7 @@ void MovableText::Load(const std::string &_name,
 //////////////////////////////////////////////////
 void MovableText::Update()
 {
+  GZ_PROFILE("rendering::MovableText::Update");
   if (this->dataPtr->dirty)
   {
     this->SetupGeometry();

diff --git a/gazebo/rendering/OculusCamera.cc b/gazebo/rendering/OculusCamera.cc
@@ -25,6 +25,7 @@
 #include "gazebo/common/Console.hh"
 #include "gazebo/common/Exception.hh"
 #include "gazebo/common/Events.hh"
+#include "gazebo/common/Profiler.hh"
 
 #include "gazebo/rendering/skyx/include/SkyX.h"
 #include "gazebo/rendering/selection_buffer/SelectionBuffer.hh"
@@ -235,8 +236,11 @@ void OculusCamera::RenderImpl()
 //////////////////////////////////////////////////
 void OculusCamera::Update()
 {
+  GZ_PROFILE("rendering::OculusCamera::Update");
   if (!this->Ready())
+  {
     return;
+  }
 
   Camera::Update();
 

diff --git a/gazebo/rendering/RTShaderSystem.cc b/gazebo/rendering/RTShaderSystem.cc
@@ -37,6 +37,7 @@
 #include "gazebo/common/Console.hh"
 #include "gazebo/common/Exception.hh"
 #include "gazebo/common/SystemPaths.hh"
+#include "gazebo/common/Profiler.hh"
 #include "gazebo/rendering/ogre_gazebo.h"
 #include "gazebo/rendering/CustomPSSMShadowCameraSetup.hh"
 #include "gazebo/rendering/RenderEngine.hh"
@@ -634,8 +635,11 @@ Ogre::PSSMShadowCameraSetup *RTShaderSystem::GetPSSMShadowCameraSetup() const
 /////////////////////////////////////////////////
 void RTShaderSystem::Update()
 {
+  GZ_PROFILE("rendering::RTShaderSystem::Update");
   if (!this->dataPtr->initialized || !this->dataPtr->updateShaders)
+  {
     return;
+  }
 
   for (const auto &scene : this->dataPtr->scenes)
   {