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Setup profiler #52

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merged 3 commits into from
Jun 7, 2022
Merged

Setup profiler #52

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c426a72
Setup profiler
chapulina May 31, 2022
7ce3420
Merged from main
chapulina Jun 6, 2022
c1c18e8
Merge branch 'main' into chapulina/profiler
chapulina Jun 7, 2022
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13 changes: 13 additions & 0 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -2,3 +2,16 @@ This repository contains packages used for Gazebo simulation of marine buoys.

Start from [Buoy entrypoint](https://github.com/osrf/buoy_entrypoint).

## Development

### Profiler

By default, the profiler isn't enabled. To enable it at compilation time,
pass the `-DENABLE_PROFILER=1` CMake argument. For example, to compile tests
and enable the profiler with `colcon`:

```
colcon build --cmake-args ' -DBUILD_TESTING=false' ' -DENABLE_PROFILER=1'
```

See more on [this tutorial](https://ignitionrobotics.org/api/common/4.4/profiler.html).
16 changes: 14 additions & 2 deletions buoy_gazebo/CMakeLists.txt
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@@ -1,15 +1,26 @@
cmake_minimum_required(VERSION 3.5)
project(buoy_gazebo)

# Option to enable profiler
option(ENABLE_PROFILER "Enable Ignition Profiler" FALSE)

if(ENABLE_PROFILER)
add_definitions("-DIGN_PROFILER_ENABLE=1")
else()
add_definitions("-DIGN_PROFILER_ENABLE=0")
endif()

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(buoy_msgs REQUIRED)

find_package(ignition-cmake2 REQUIRED)
find_package(ignition-plugin1 REQUIRED COMPONENTS register)
set(GZ_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
find_package(ignition-common4 REQUIRED COMPONENTS profiler)
set(GZ_COMMON_VER ${ignition-common4_VERSION_MAJOR})
find_package(ignition-gazebo6 REQUIRED)
set(GZ_GAZEBO_VER ${ignition-gazebo6_VERSION_MAJOR})
set(GZ_SIM_VER ${ignition-gazebo6_VERSION_MAJOR})


# Plugins
Expand Down Expand Up @@ -50,8 +61,9 @@ function(gz_add_plugin plugin_name)
)
target_link_libraries(${plugin_name}
PUBLIC
ignition-gazebo${GZ_GAZEBO_VER}::ignition-gazebo${GZ_GAZEBO_VER}
ignition-gazebo${GZ_SIM_VER}::ignition-gazebo${GZ_SIM_VER}
ignition-plugin${GZ_PLUGIN_VER}::ignition-plugin${GZ_PLUGIN_VER}
ignition-common${GZ_COMMON_VER}::profiler
${gz_add_plugin_PUBLIC_LINK_LIBS}
PRIVATE
${gz_add_plugin_PRIVATE_LINK_LIBS}
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4 changes: 1 addition & 3 deletions buoy_gazebo/src/ElectroHydraulicPTO/ElectroHydraulicPTO.cpp
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Expand Up @@ -306,16 +306,14 @@ void ElectroHydraulicPTO::PreUpdate(
const int n = 2;
int info;

IGN_PROFILE("ElectroHydraulicPTO::Update");
IGN_PROFILE("#ElectroHydraulicPTO::PreUpdate");
// Nothing left to do if paused.
if (_info.paused) {
return;
}

auto SimTime = std::chrono::duration<double>(_info.simTime).count();

IGN_PROFILE("#ElectroHydraulicPTO::PreUpdate");

// If the joints haven't been identified yet, the plugin is disabled
if (this->dataPtr->PrismaticJointEntity == ignition::gazebo::kNullEntity) {
return;
Expand Down