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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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12
examples/pybullet/examples/profileTiming.py Normal file
View File

@@ -0,0 +1,12 @@
import pybullet as p
import time
p.connect(p.GUI)
t = time.time()+0.1
logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "haha")
while (time.time()<t):
p.submitProfileTiming("pythontest")
p.stopStateLogging(logId)

41
examples/pybullet/pybullet.c
View File

@@ -2879,6 +2879,42 @@ static PyObject* pybullet_startStateLogging(PyObject* self, PyObject* args, PyOb
return Py_None;
}
static PyObject* pybullet_submitProfileTiming(PyObject* self, PyObject* args, PyObject* keywds)
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;
char* eventName = 0;
int duractionInMicroSeconds=-1;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = {"eventName ", "duraction", "physicsClientId", NULL};
int physicsClientId = 0;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|ii", kwlist,
&eventName, &duractionInMicroSeconds, &physicsClientId))
return NULL;
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
if (eventName)
{
b3SharedMemoryCommandHandle commandHandle;
commandHandle = b3ProfileTimingCommandInit(sm, eventName);
if (duractionInMicroSeconds>=0)
{
b3SetProfileTimingDuractionInMicroSeconds(commandHandle, duractionInMicroSeconds);
}
b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
}
Py_INCREF(Py_None);
return Py_None;
}
static PyObject* pybullet_stopStateLogging(PyObject* self, PyObject* args, PyObject* keywds)
{
b3SharedMemoryStatusHandle statusHandle;
@@ -5691,6 +5727,10 @@ static PyMethodDef SpamMethods[] = {
"Cast a batch of rays and return the result for each of the rays (first object hit, if any. or -1) "
"Takes two arguments (list of from_positions [x,y,z] and a list of to_positions [x,y,z] in Cartesian world coordinates"},
{"submitProfileTiming", (PyCFunction)pybullet_submitProfileTiming, METH_VARARGS | METH_KEYWORDS,
"Add a custom profile timing that will be visible in performance profile recordings on the physics server."
"On the physics server (in GUI and VR mode) you can press 'p' to start and/or stop profile recordings" },
{"setTimeOut", (PyCFunction)pybullet_setTimeOut, METH_VARARGS | METH_KEYWORDS,
"Set the timeOut in seconds, used for most of the API calls."},
// todo(erwincoumans)
@@ -5821,6 +5861,7 @@ initpybullet(void)
PyModule_AddIntConstant(m, "STATE_LOGGING_VR_CONTROLLERS", STATE_LOGGING_VR_CONTROLLERS);
PyModule_AddIntConstant(m, "STATE_LOGGING_VIDEO_MP4", STATE_LOGGING_VIDEO_MP4);
PyModule_AddIntConstant(m, "STATE_LOGGING_CONTACT_POINTS", STATE_LOGGING_CONTACT_POINTS);
PyModule_AddIntConstant(m, "STATE_LOGGING_PROFILE_TIMINGS", STATE_LOGGING_PROFILE_TIMINGS);
PyModule_AddIntConstant(m, "COV_ENABLE_GUI", COV_ENABLE_GUI);
PyModule_AddIntConstant(m, "COV_ENABLE_SHADOWS", COV_ENABLE_SHADOWS);