Revision: 8879
http://playerstage.svn.sourceforge.net/playerstage/?rev=8879&view=rev
Author: hsujohnhsu
Date: 2010-09-02 05:19:19 +0000 (Thu, 02 Sep 2010)
Log Message:
-----------
added diagnostics timers, msg level 6
Modified Paths:
--------------
code/gazebo/branches/wg/server/Simulator.cc
code/gazebo/branches/wg/server/World.cc
code/gazebo/branches/wg/server/physics/ode/ODEPhysics.cc
code/gazebo/branches/wg/server/rendering/OgreAdaptor.cc
Modified: code/gazebo/branches/wg/server/Simulator.cc
===================================================================
--- code/gazebo/branches/wg/server/Simulator.cc 2010-09-02 02:56:29 UTC (rev
8878)
+++ code/gazebo/branches/wg/server/Simulator.cc 2010-09-02 05:19:19 UTC (rev
8879)
@@ -405,7 +405,7 @@
{
this->state = RUN;
- //DiagnosticTimer timer("--------------------------- START
Simulator::MainLoop() --------------------------");
+ //DIAGNOSTICTIMER(timer("--------------------------- START
Simulator::MainLoop() --------------------------",6));
Time currTime = 0;
Time lastTime = 0;
struct timespec timeSpec;
@@ -417,24 +417,41 @@
// Update the gui
while (!this->userQuit)
{
+ DIAGNOSTICTIMER(timer("GUI LOOP",6));
+
currTime = this->GetWallTime();
if ( currTime - lastTime > 1.0/freq)
{
lastTime = this->GetWallTime();
if (this->gui)
+ {
+ DIAGNOSTICTIMER(timer("GUI update",6));
this->gui->Update();
+ }
if (this->renderEngineEnabled)
{
- OgreAdaptor::Instance()->UpdateCameras();
- World::Instance()->GraphicsUpdate();
+ {
+ DIAGNOSTICTIMER(timer("Camera update",6));
+ OgreAdaptor::Instance()->UpdateCameras();
+ }
+ {
+ DIAGNOSTICTIMER(timer("Graphics update",6));
+ World::Instance()->GraphicsUpdate();
+ }
}
currTime = this->GetWallTime();
- World::Instance()->ProcessEntitiesToLoad();
- World::Instance()->ProcessEntitiesToDelete();
+ {
+ DIAGNOSTICTIMER(timer("Process Entities to Load",6));
+ World::Instance()->ProcessEntitiesToLoad();
+ }
+ {
+ DIAGNOSTICTIMER(timer("Process Entities to Delete",6));
+ World::Instance()->ProcessEntitiesToDelete();
+ }
if (currTime - lastTime < 1/freq)
{
@@ -667,7 +684,9 @@
while (!this->userQuit)
{
- //DiagnosticTimer timer("PhysicsLoop Timer ");
+ DIAGNOSTICTIMER(timer("PHYSICS LOOP ",6));
+
+ //DIAGNOSTICTIMER(timer("PhysicsLoop Timer ",6));
currTime = this->GetRealTime();
// performance wise, this is not ideal, move this outside of while loop
and use signals and slots.
@@ -684,9 +703,18 @@
lastTime = this->GetRealTime();
{
- boost::recursive_mutex::scoped_lock lock(*this->GetMRMutex());
- boost::recursive_mutex::scoped_lock
model_delete_lock(*this->GetMDMutex());
- world->Update();
+ {
+ DIAGNOSTICTIMER(timer("PhysicsLoop Get Rendering Mutex ",6));
+ boost::recursive_mutex::scoped_lock lock(*this->GetMRMutex());
+ }
+ {
+ DIAGNOSTICTIMER(timer("PhysicsLoop Get Model Mutex ",6));
+ boost::recursive_mutex::scoped_lock
model_delete_lock(*this->GetMDMutex());
+ }
+ {
+ DIAGNOSTICTIMER(timer("PhysicsLoop world->Update() ",6));
+ world->Update();
+ }
}
currTime = this->GetRealTime();
@@ -722,7 +750,7 @@
nanosleep(&req, &rem);
{
- //DiagnosticTimer timer("PhysicsLoop UpdateSimIfaces ");
+ DIAGNOSTICTIMER(timer("PhysicsLoop UpdateSimIfaces ",6));
// Process all incoming messages from simiface
world->UpdateSimulationIface();
Modified: code/gazebo/branches/wg/server/World.cc
===================================================================
--- code/gazebo/branches/wg/server/World.cc 2010-09-02 02:56:29 UTC (rev
8878)
+++ code/gazebo/branches/wg/server/World.cc 2010-09-02 05:19:19 UTC (rev
8879)
@@ -336,7 +336,7 @@
}
{
- //DiagnosticTimer timer("World::Update Models");
+ DIAGNOSTICTIMER(timer("World::Update Models",6));
// Update all the models
std::vector< Model* >::iterator miter;
@@ -359,7 +359,7 @@
Simulator::Instance()->GetPhysicsEnabled())
{
{
- //DiagnosticTimer timer("World::Update Physics");
+ DIAGNOSTICTIMER(timer("World::Update Physics",6));
this->physicsEngine->UpdatePhysics();
}
Modified: code/gazebo/branches/wg/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/branches/wg/server/physics/ode/ODEPhysics.cc 2010-09-02
02:56:29 UTC (rev 8878)
+++ code/gazebo/branches/wg/server/physics/ode/ODEPhysics.cc 2010-09-02
05:19:19 UTC (rev 8879)
@@ -378,7 +378,7 @@
// Do collision detection; this will add contacts to the contact group
this->LockMutex();
{
- DIAGNOSTICTIMER(timer("ODEPhysics Collision dSpaceCollide",1));
+ DIAGNOSTICTIMER(timer("ODEPhysics Collision dSpaceCollide",6));
dSpaceCollide( this->spaceId, this, CollisionCallback );
}
this->UnlockMutex();
@@ -426,12 +426,12 @@
PhysicsEngine::UpdatePhysics();
{
- DIAGNOSTICTIMER(timer("ODEPhysics: UpdateCollision",1));
+ DIAGNOSTICTIMER(timer("ODEPhysics: UpdateCollision",6));
this->UpdateCollision();
}
{
- DIAGNOSTICTIMER(timer("ODEPhysics: LockMutex",1));
+ DIAGNOSTICTIMER(timer("ODEPhysics: LockMutex",6));
this->LockMutex();
}
@@ -439,7 +439,7 @@
/// \brief @todo: quickStepP used here for backwards compatibility,
/// should tick tock deprecation as we switch to nested tags
{
- DIAGNOSTICTIMER(timer("ODEPhysics: Constraint Solver",1));
+ DIAGNOSTICTIMER(timer("ODEPhysics: Constraint Solver",6));
if (**this->stepTypeP == "quick" || **this->quickStepP == true)
dWorldQuickStep(this->worldId, (**this->stepTimeP).Double());
Modified: code/gazebo/branches/wg/server/rendering/OgreAdaptor.cc
===================================================================
--- code/gazebo/branches/wg/server/rendering/OgreAdaptor.cc 2010-09-02
02:56:29 UTC (rev 8878)
+++ code/gazebo/branches/wg/server/rendering/OgreAdaptor.cc 2010-09-02
05:19:19 UTC (rev 8879)
@@ -53,6 +53,8 @@
#include "RTShaderSystem.hh"
#include "OgreAdaptor.hh"
+#include "Timer.hh"
+
using namespace gazebo;
enum SceneTypes{SCENE_BSP, SCENE_EXT};
@@ -468,23 +470,35 @@
this->root->_fireFrameStarted();
// Draw all the non-user cameras
- for (iter = this->cameras.begin(); iter != this->cameras.end(); iter++)
{
- if (dynamic_cast<UserCamera*>((*iter)) == NULL)
- (*iter)->Render();
+ DIAGNOSTICTIMER(timer("UpdateCameras: Non-UserCamera update",6));
+ for (iter = this->cameras.begin(); iter != this->cameras.end(); iter++)
+ {
+ if (dynamic_cast<UserCamera*>((*iter)) == NULL)
+ (*iter)->Render();
+ }
}
- this->root->renderOneFrame();
+ {
+ DIAGNOSTICTIMER(timer("UpdateCameras: render one frame",6));
+ this->root->renderOneFrame();
+ }
// Must update the user camera's last.
- for (iter = this->cameras.begin(); iter != this->cameras.end(); iter++)
{
- userCam = dynamic_cast<UserCamera*>((*iter));
- if (userCam)
- userCam->Update();
+ DIAGNOSTICTIMER(timer("UpdateCameras: UserCamera update",6));
+ for (iter = this->cameras.begin(); iter != this->cameras.end(); iter++)
+ {
+ userCam = dynamic_cast<UserCamera*>((*iter));
+ if (userCam)
+ userCam->Update();
+ }
}
- this->root->_fireFrameEnded();
+ {
+ DIAGNOSTICTIMER(timer("UpdateCameras: _fireFrameEnded",6));
+ this->root->_fireFrameEnded();
+ }
}
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