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Improve ChromeTraceUtil logging, allow filename to be specified.

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Expose this ChromeTraceUtil  logging to C-API: start/statelogging and submitProfileTiming
pybullet.submitProfileTiming, and STATE_LOGGING_PROFILE_TIMINGS used in startStateLogging
added example for Python profileTiming.py and C++ b3RobotSimulatorClientAPI::submitProfileTiming
This commit is contained in:
Erwin Coumans
2017-05-04 17:51:40 -07:00
parent a8bf53b494
commit 1f64a87abe
17 changed files with 255 additions and 28 deletions
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33
examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
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@@ -912,6 +912,11 @@ void b3RobotSimulatorClientAPI::getKeyboardEvents(b3KeyboardEventsData* keyboard
int b3RobotSimulatorClientAPI::startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const b3AlignedObjectArray<int>& objectUniqueIds, int maxLogDof)
{
if (!isConnected())
{
b3Warning("Not connected");
return -1;
}
int loggingUniqueId = -1;
b3SharedMemoryCommandHandle commandHandle;
commandHandle = b3StateLoggingCommandInit(m_data->m_physicsClientHandle);
@@ -942,6 +947,12 @@ int b3RobotSimulatorClientAPI::startStateLogging(b3StateLoggingType loggingType,
void b3RobotSimulatorClientAPI::stopStateLogging(int stateLoggerUniqueId)
{
if (!isConnected())
{
b3Warning("Not connected");
return;
}
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
commandHandle = b3StateLoggingCommandInit(m_data->m_physicsClientHandle);
@@ -951,6 +962,12 @@ void b3RobotSimulatorClientAPI::stopStateLogging(int stateLoggerUniqueId)
void b3RobotSimulatorClientAPI::resetDebugVisualizerCamera(double cameraDistance, double cameraPitch, double cameraYaw, const b3Vector3& targetPos)
{
if (!isConnected())
{
b3Warning("Not connected");
return;
}
b3SharedMemoryCommandHandle commandHandle = b3InitConfigureOpenGLVisualizer(m_data->m_physicsClientHandle);
if (commandHandle)
{
@@ -963,3 +980,19 @@ void b3RobotSimulatorClientAPI::resetDebugVisualizerCamera(double cameraDistance
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
}
}
void b3RobotSimulatorClientAPI::submitProfileTiming(const std::string& profileName, int durationInMicroSeconds)
{
if (!isConnected())
{
b3Warning("Not connected");
return;
}
b3SharedMemoryCommandHandle commandHandle = b3ProfileTimingCommandInit(m_data->m_physicsClientHandle, profileName.c_str());
if (durationInMicroSeconds>=0)
{
b3SetProfileTimingDuractionInMicroSeconds(commandHandle, durationInMicroSeconds);
}
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
}