Adds maliput profiler

[francocipollone]

🎉 New feature

Summary

It adds a profiler to maliput's api.

• By default it is disabled, for enabling maliput should be compiled using MALIPUT_PROFILER_ENABLE cmake argument
• It is not causing any performance drop when it is disabled as the correct use of macros/defines is implemented.
• It relies on ign-common's profiler component.
• No hard dependency:
  • Dependency is only added if the argument above is passed.
  • Dependency is not replicated downstream to avoid recompiling in downstream packages.
• README is updated to help enabling the profiler.
• Code being profiled(more could be covered in the future if necessity arises):
  • API
    • RoadGeometry
    • Lane
  • routing
  • utility::generateobj

For reviewers

• Commits added to facilitate revision, review commit by commit!

Test it

• sudo apt install libignition-common3-dev
• Compile from source
• Run delphyne_gazoo
  • Or delphyne_gazoo -m maliput_osm
• Run ign_remotery_viz

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if it affects the public API)

[agalbachicar]

PTAL.

[agalbachicar]

We should use @def MALIPUT_PROFILER_ENABLE ....
Which value should we use?

[francocipollone]

This states that if the MALIPUT_PROFILER_ENABLE is not defined then set it to zero. (as it is done in the very line below)

And the define is expected to bet set via preprocessor : cmake-ars --> compile definition

[agalbachicar]

Is it possible to use __FUNC__ / __PRETTY_FUNCTION__ (even better but not sure if it is available in clang ) ?

That will allow to reduce the cost to implement the profiling everywhere, meaning that we don't need to review spelling mistakes and so on and the compiler will do it for us.

[francocipollone]

Maybe we could create a new macro like

#define MALIPUT_PROFILE_FUNC() IGN_PROFILE(__FUNCTION__)

• Using FUNCTION only gives you the name of the method, without carrying about namespacing. So I wouldn't use it
• Using PRETTY_FUNCTION is possible, I tried it using compiler explorer for both gcc and clang. The firm of the method is quite complete: namespaces + return type + argument. The only issue here is that when using the profiler UI in order to analyze data it isn't that user friendly with long names, it is basically a mess. (I can try this out and post a picture here using the profiler)

Finally, we are using the profiler for analyzing entire method execution, however, it could be used por different part of a method. For example, check this usecase in gz-sim::simulationrunner

[agalbachicar]

I like the macro #define MALIPUT_PROFILE_FUNC() IGN_PROFILE(__FUNCTION__)

[francocipollone]

What about also adding the option with pretty_function? Check 22ff1d8

In the api I am still using the MALIPUT_PROFILE macro as it is better described.

[agalbachicar]

I think it is OK, but I would use it everywhere we are using the name of the function only to avoid spelling mistakes. Also, the macro could be (I hope the compiler shakes my right hand):

#define MALIPUT_PROFILE_FUNC()  IGN_PROFILE(__FUNCTION__)
#define MALIPUT_PROFILE_FUNC_MSG(msg) IGN_PROFILE(__FUNCTION_": "#msg)

[j-rivero]

Out of curiosity, are these __FUNCTION__ and __PRETTY_FUNCTION in any of the standards? Never saw them before. If they are not, not sure guys how you deal with this platform constraints decisions in maliput.

[francocipollone]

Out of curiosity, are these __FUNCTION__ and __PRETTY_FUNCTION in any of the standards? Never saw them before. If they are not, not sure guys how you deal with this platform constraints decisions in maliput.

Good question, __FUNCTION__ is part of the C++ standard already. Regarding __PRETTY_FUNCTION__ apparently it is not in the standard (at least yet) however gcc and clang have support for this. Given that we state to support both gcc and clang compilers, I think that there is no harm in using them.

[francocipollone]

#define MALIPUT_PROFILE_FUNC_MSG(msg) IGN_PROFILE(__FUNCTION_": "#msg)

The issue with #define MALIPUT_PROFILE_FUNC_MSG(msg) IGN_PROFILE(__FUNCTION_": "#msg) is the argument:
IGN_PROFILER is expecting a char * and :

• __FUNCTION__": "#msg
• __FUNCTION__ + ": " + #msg
  aren't correct.

There is an alternative of concatenating as a string and converting to const char * but making this conversion/operation every time that the method is called isn't ideal.
#define MALIPUT_PROFILE_FUNC_MSG(msg) IGN_PROFILE((static_cast<std::string>(__FUNCTION__) + std::string(": ") + static_cast<std::string>(msg)).c_str())

---

I replaced all the occurrences with MALIPUT_PROFILE_FUNC() Check 209cc9d

[agalbachicar]

Good catch. Let's keep it as is then.

[agalbachicar]

LGTM