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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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36
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2695,6 +2695,41 @@ void b3GetKeyboardEventsData(b3PhysicsClientHandle physClient, struct b3Keyboard
}
b3SharedMemoryCommandHandle b3ProfileTimingCommandInit(b3PhysicsClientHandle physClient, const char* name)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
int len = strlen(name);
if (len>=0 && len < (MAX_FILENAME_LENGTH+1))
{
command->m_type = CMD_PROFILE_TIMING;
strcpy(command->m_profile.m_name,name);
command->m_profile.m_name[len]=0;
} else
{
const char* invalid = "InvalidProfileTimingName";
int len = strlen(invalid);
strcpy(command->m_profile.m_name,invalid);
command->m_profile.m_name[len] = 0;
}
command->m_profile.m_durationInMicroSeconds = 0;
return (b3SharedMemoryCommandHandle)command;
}
void b3SetProfileTimingDuractionInMicroSeconds(b3SharedMemoryCommandHandle commandHandle, int duration)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_PROFILE_TIMING);
if (command->m_type == CMD_PROFILE_TIMING)
{
command->m_profile.m_durationInMicroSeconds = duration;
}
}
b3SharedMemoryCommandHandle b3StateLoggingCommandInit(b3PhysicsClientHandle physClient)
{
@@ -2841,7 +2876,6 @@ int b3StateLoggingSetDeviceTypeFilter(b3SharedMemoryCommandHandle commandHandle,
return 0;
}
int b3StateLoggingStop(b3SharedMemoryCommandHandle commandHandle, int loggingUid)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;

2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -392,6 +392,8 @@ int b3GetStatusLoggingUniqueId(b3SharedMemoryStatusHandle statusHandle);
int b3StateLoggingStop(b3SharedMemoryCommandHandle commandHandle, int loggingUniqueId);
b3SharedMemoryCommandHandle b3ProfileTimingCommandInit(b3PhysicsClientHandle physClient, const char* name);
void b3SetProfileTimingDuractionInMicroSeconds(b3SharedMemoryCommandHandle commandHandle, int duration);
void b3SetTimeOut(b3PhysicsClientHandle physClient, double timeOutInSeconds);
double b3GetTimeOut(b3PhysicsClientHandle physClient);

114
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -13,7 +13,9 @@
#include "BulletDynamics/Featherstone/btMultiBodySliderConstraint.h"
#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "LinearMath/btHashMap.h"
#include "Bullet3Common/b3HashMap.h"
#include "../Utils/ChromeTraceUtil.h"
#include "BulletInverseDynamics/MultiBodyTree.hpp"
#include "IKTrajectoryHelper.h"
#include "btBulletDynamicsCommon.h"
@@ -28,7 +30,7 @@
#include "SharedMemoryCommands.h"
#include "LinearMath/btRandom.h"
#include "Bullet3Common/b3ResizablePool.h"
#include "../Utils/b3Clock.h"
#ifdef B3_ENABLE_TINY_AUDIO
#include "../TinyAudio/b3SoundEngine.h"
#endif
@@ -132,7 +134,7 @@ struct InteralBodyData
btTransform m_rootLocalInertialFrame;
btAlignedObjectArray<btTransform> m_linkLocalInertialFrames;
#ifdef B3_ENABLE_TINY_AUDIO
btHashMap<btHashInt, SDFAudioSource> m_audioSources;
b3HashMap<btHashInt, SDFAudioSource> m_audioSources;
#endif //B3_ENABLE_TINY_AUDIO
InteralBodyData()
@@ -1158,11 +1160,11 @@ struct PhysicsServerCommandProcessorInternalData
btScalar m_physicsDeltaTime;
btScalar m_numSimulationSubSteps;
btAlignedObjectArray<btMultiBodyJointFeedback*> m_multiBodyJointFeedbacks;
btHashMap<btHashPtr, btInverseDynamics::MultiBodyTree*> m_inverseDynamicsBodies;
btHashMap<btHashPtr, IKTrajectoryHelper*> m_inverseKinematicsHelpers;
b3HashMap<btHashPtr, btInverseDynamics::MultiBodyTree*> m_inverseDynamicsBodies;
b3HashMap<btHashPtr, IKTrajectoryHelper*> m_inverseKinematicsHelpers;
int m_userConstraintUIDGenerator;
btHashMap<btHashInt, InteralUserConstraintData> m_userConstraints;
b3HashMap<btHashInt, InteralUserConstraintData> m_userConstraints;
b3AlignedObjectArray<SaveWorldObjectData> m_saveWorldBodyData;
@@ -1198,6 +1200,8 @@ struct PhysicsServerCommandProcessorInternalData
btAlignedObjectArray<InternalStateLogger*> m_stateLoggers;
int m_stateLoggersUniqueId;
int m_profileTimingLoggingUid;
std::string m_profileTimingFileName;
struct GUIHelperInterface* m_guiHelper;
int m_sharedMemoryKey;
@@ -1219,6 +1223,8 @@ struct PhysicsServerCommandProcessorInternalData
b3SoundEngine m_soundEngine;
#endif
b3HashMap<b3HashString, char*> m_profileEvents;
PhysicsServerCommandProcessorInternalData()
:
m_allowRealTimeSimulation(false),
@@ -1247,6 +1253,7 @@ struct PhysicsServerCommandProcessorInternalData
m_dynamicsWorld(0),
m_remoteDebugDrawer(0),
m_stateLoggersUniqueId(0),
m_profileTimingLoggingUid(-1),
m_guiHelper(0),
m_sharedMemoryKey(SHARED_MEMORY_KEY),
m_verboseOutput(false),
@@ -1372,7 +1379,11 @@ PhysicsServerCommandProcessor::~PhysicsServerCommandProcessor()
delete m_data->m_commandLogger;
m_data->m_commandLogger = 0;
}
for (int i=0;i<m_data->m_profileEvents.size();i++)
{
char* event = *m_data->m_profileEvents.getAtIndex(i);
delete[] event;
}
delete m_data;
}
@@ -2210,7 +2221,7 @@ int PhysicsServerCommandProcessor::createBodyInfoStream(int bodyUniqueId, char*
bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes )
{
BT_PROFILE("processCommand");
// BT_PROFILE("processCommand");
bool hasStatus = false;
@@ -2278,7 +2289,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
if (clientCmd.m_updateFlags & STATE_LOGGING_START_LOG)
{
if (clientCmd.m_stateLoggingArguments.m_logType == STATE_LOGGING_PROFILE_TIMINGS)
{
if (m_data->m_profileTimingLoggingUid<0)
{
b3ChromeUtilsStartTimings();
m_data->m_profileTimingFileName = clientCmd.m_stateLoggingArguments.m_fileName;
int loggerUid = m_data->m_stateLoggersUniqueId++;
serverStatusOut.m_type = CMD_STATE_LOGGING_START_COMPLETED;
serverStatusOut.m_stateLoggingResultArgs.m_loggingUniqueId = loggerUid;
m_data->m_profileTimingLoggingUid = loggerUid;
}
}
if (clientCmd.m_stateLoggingArguments.m_logType == STATE_LOGGING_VIDEO_MP4)
{
//if (clientCmd.m_stateLoggingArguments.m_fileName)
@@ -2416,14 +2438,22 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
if ((clientCmd.m_updateFlags & STATE_LOGGING_STOP_LOG) && clientCmd.m_stateLoggingArguments.m_loggingUniqueId>=0)
{
serverStatusOut.m_type = CMD_STATE_LOGGING_COMPLETED;
for (int i=0;i<m_data->m_stateLoggers.size();i++)
if (clientCmd.m_stateLoggingArguments.m_loggingUniqueId == m_data->m_profileTimingLoggingUid)
{
if (m_data->m_stateLoggers[i]->m_loggingUniqueId==clientCmd.m_stateLoggingArguments.m_loggingUniqueId)
b3ChromeUtilsStopTimingsAndWriteJsonFile(m_data->m_profileTimingFileName.c_str());
m_data->m_profileTimingLoggingUid = -1;
}
else
{
serverStatusOut.m_type = CMD_STATE_LOGGING_COMPLETED;
for (int i=0;i<m_data->m_stateLoggers.size();i++)
{
m_data->m_stateLoggers[i]->stop();
delete m_data->m_stateLoggers[i];
m_data->m_stateLoggers.removeAtIndex(i);
if (m_data->m_stateLoggers[i]->m_loggingUniqueId==clientCmd.m_stateLoggingArguments.m_loggingUniqueId)
{
m_data->m_stateLoggers[i]->stop();
delete m_data->m_stateLoggers[i];
m_data->m_stateLoggers.removeAtIndex(i);
}
}
}
}
@@ -2458,7 +2488,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
case CMD_REQUEST_VR_EVENTS_DATA:
{
BT_PROFILE("CMD_REQUEST_VR_EVENTS_DATA");
//BT_PROFILE("CMD_REQUEST_VR_EVENTS_DATA");
serverStatusOut.m_sendVREvents.m_numVRControllerEvents = 0;
for (int i=0;i<MAX_VR_CONTROLLERS;i++)
@@ -2486,7 +2516,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_REQUEST_KEYBOARD_EVENTS_DATA:
{
BT_PROFILE("CMD_REQUEST_KEYBOARD_EVENTS_DATA");
//BT_PROFILE("CMD_REQUEST_KEYBOARD_EVENTS_DATA");
serverStatusOut.m_sendKeyboardEvents.m_numKeyboardEvents = m_data->m_keyboardEvents.size();
if (serverStatusOut.m_sendKeyboardEvents.m_numKeyboardEvents>MAX_KEYBOARD_EVENTS)
@@ -3320,6 +3350,56 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
break;
}
case CMD_PROFILE_TIMING:
{
{
B3_PROFILE("custom");//clientCmd.m_profile.m_name);
{
B3_PROFILE("event");//clientCmd.m_profile.m_name);
char** eventNamePtr = m_data->m_profileEvents[clientCmd.m_profile.m_name];
char* eventName = 0;
if (eventNamePtr)
{
B3_PROFILE("reuse");
eventName = *eventNamePtr;
} else
{
B3_PROFILE("alloc");
int len = strlen(clientCmd.m_profile.m_name);
eventName = new char[len+1];
strcpy(eventName,clientCmd.m_profile.m_name);
eventName[len] = 0;
m_data->m_profileEvents.insert(eventName,eventName);
}
{
{
B3_PROFILE("with");//clientCmd.m_profile.m_name);
{
B3_PROFILE("some");//clientCmd.m_profile.m_name);
{
B3_PROFILE("deep");//clientCmd.m_profile.m_name);
{
B3_PROFILE("level");//clientCmd.m_profile.m_name);
{
B3_PROFILE(eventName);
b3Clock::usleep(clientCmd.m_profile.m_durationInMicroSeconds);
}
}
}
}
}
}
}
}
serverStatusOut.m_type = CMD_CLIENT_COMMAND_COMPLETED;
hasStatus = true;
break;
}
case CMD_SEND_DESIRED_STATE:
{
BT_PROFILE("CMD_SEND_DESIRED_STATE");

2
examples/SharedMemory/PhysicsServerSharedMemory.cpp
View File

@@ -252,7 +252,7 @@ void PhysicsServerSharedMemory::processClientCommands()
if (m_data->m_testBlocks[block]->m_numClientCommands> m_data->m_testBlocks[block]->m_numProcessedClientCommands)
{
BT_PROFILE("processClientCommand");
//BT_PROFILE("processClientCommand");
//until we implement a proper ring buffer, we assume always maximum of 1 outstanding commands
btAssert(m_data->m_testBlocks[block]->m_numClientCommands==m_data->m_testBlocks[block]->m_numProcessedClientCommands+1);

9
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -459,6 +459,14 @@ struct b3ObjectArgs
int m_userConstraintUniqueIds[MAX_SDF_BODIES];
};
struct b3Profile
{
char m_name[MAX_FILENAME_LENGTH];
int m_durationInMicroSeconds;
};
struct SdfLoadedArgs
{
int m_numBodies;
@@ -758,6 +766,7 @@ struct SharedMemoryCommand
struct StateLoggingRequest m_stateLoggingArguments;
struct ConfigureOpenGLVisualizerRequest m_configureOpenGLVisualizerArguments;
struct b3ObjectArgs m_removeObjectArgs;
struct b3Profile m_profile;
};
};

2
examples/SharedMemory/SharedMemoryPublic.h
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@@ -57,6 +57,7 @@ enum EnumSharedMemoryClientCommand
CMD_REQUEST_OPENGL_VISUALIZER_CAMERA,
CMD_REMOVE_BODY,
CMD_RESET_DYNAMIC_INFO,
CMD_PROFILE_TIMING,
//don't go beyond this command!
CMD_MAX_CLIENT_COMMANDS,
@@ -388,6 +389,7 @@ enum b3StateLoggingType
STATE_LOGGING_VIDEO_MP4 = 3,
STATE_LOGGING_COMMANDS = 4,
STATE_LOGGING_CONTACT_POINTS = 5,
STATE_LOGGING_PROFILE_TIMINGS = 6,
};