From 94744b5a2d5da4f4646277b86cf66d7ba607ac51 Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Mon, 16 Nov 2020 16:14:22 +0100
Subject: [PATCH] working with corresponding branch in core
---
src/node.cpp | 65 ++++++++++++++++++++++++++++++----------------------
1 file changed, 37 insertions(+), 28 deletions(-)
diff --git a/src/node.cpp b/src/node.cpp
index b39bfa8..8d3946d 100644
--- a/src/node.cpp
+++ b/src/node.cpp
@@ -241,8 +241,8 @@ int main(int argc, char **argv)
pthread_setschedparam(solver_thread.native_handle(), SCHED_FIFO, &Priority_Param);*/
// Profiling
- double duration_viz(0), duration_solver(0);
- unsigned int n_viz(0), n_solver(0);
+ std::chrono::microseconds duration_viz(0);
+ unsigned int n_viz(0);
while (ros::ok())
{
@@ -282,41 +282,50 @@ int main(int argc, char **argv)
loopRate.sleep();
}
WOLF_DEBUG("Node is shutting down outside loop... waiting for the thread to stop...");
- solver_thread.join();
+ //solver_thread.join();
WOLF_DEBUG("thread stopped.");
// Profiling
- ofstream profiling_file;
- profiling_file.open ("~/wolf_profiling.txt");
- profiling_file << "WOLF PROFILING:\n";
- profiling_file << "\n\nSOLVER:"
- << "\n\ttotal time:" << wolf_node.solver_.duration_manager_ + wolf_node.solver_.duration_solver_ << " s"
- << "\n\tmanager time:" << wolf_node.solver_.duration_manager_ << " s"
- << "\n\tsolver time:" << wolf_node.solver_.duration_solver_ << " s"
- << "\n\texecutions:" << wolf_node.solver_.n_solve_
- << "\n\taverage time:" << (wolf_node.solver_.duration_manager_ + wolf_node.solver_.duration_solver_) / wolf_node.solver_.n_solve_ << " s"
- << "\n\taverage manager time:" << wolf_node.solver_.duration_manager_ / wolf_node.solver_.n_solve_ << " s"
- << "\n\taverage solver time:" << wolf_node.solver_.duration_solver_ / wolf_node.solver_.n_solve_ << " s" << std::endl;
- profiling_file << "\n\nVISUALIZATION:"
- << "\n\ttotal time:" << duration_viz << " s"
- << "\n\texecutions:" << n_viz
- << "\n\taverage time:" << duration_viz/n_viz << std::endl;
+ std::stringstream profiling_str;
+ profiling_str << "========== WOLF PROFILING ==========\n";
+
+ profiling_str <<"\nSOLVER:"
+ << "\n\ttotal time: " << 1e-9*(wolf_node.solver_->duration_manager_ + wolf_node.solver_->duration_solver_).count() << " s"
+ << "\n\tmanager time: " << 1e-9*wolf_node.solver_->duration_manager_.count() << " s"
+ << "\n\tsolver time: " << 1e-9*wolf_node.solver_->duration_solver_.count() << " s"
+ << "\n\texecutions: " << wolf_node.solver_->n_solve_
+ << "\n\taverage time: " << 1e-9*(wolf_node.solver_->duration_manager_ + wolf_node.solver_->duration_solver_).count() / wolf_node.solver_->n_solve_ << " s"
+ << "\n\taverage manager time: " << 1e-9*wolf_node.solver_->duration_manager_.count() / wolf_node.solver_->n_solve_ << " s"
+ << "\n\taverage solver time: " << 1e-9*wolf_node.solver_->duration_solver_.count() / wolf_node.solver_->n_solve_ << " s" << std::endl;
+
+ profiling_str << "\n\nVISUALIZATION:"
+ << "\n\ttotal time: " << 1e-9*duration_viz.count() << " s"
+ << "\n\texecutions: " << n_viz
+ << "\n\taverage time: " << 1e-9*duration_viz.count()/n_viz << std::endl;
+
for (auto sensor : wolf_node.problem_ptr_->getHardware()->getSensorList())
for (auto proc : sensor->getProcessorList())
{
- profiling_file << "\n\nPROCESSOR " << proc->getName() << ":"
- << "\n\ttotal time:" << wolf_node.solver_.duration_manager_ + wolf_node.solver_.duration_solver_ << " s"
- << "\n\tproc. captures time:" << wolf_node.solver_.duration_manager_ << " s"
- << "\n\tproc. frames time:" << wolf_node.solver_.duration_solver_ << " s"
- << "\n\texecutions:" << wolf_node.solver_.n_solve_
- << "\n\taverage time:" << (wolf_node.solver_.duration_manager_ + wolf_node.solver_.duration_solver_) / wolf_node.solver_.n_solve_ << " s"
- << "\n\taverage proc. captures time:" << wolf_node.solver_.duration_manager_ / wolf_node.solver_.n_solve_ << " s"
- << "\n\taverage proc. frames time:" << wolf_node.solver_.duration_solver_ / wolf_node.solver_.n_solve_ << " s" << std::endl;
+ profiling_str << "\n\nPROCESSOR " << proc->getName() << ":"
+ << "\n\ttotal time: " << 1e-9*(proc->duration_capture_ + proc->duration_kf_).count()<< " s"
+ << "\n\tProcessing captures:"
+ << "\n\t\ttotal time: " << 1e-9*proc->duration_capture_.count() << " s"
+ << "\n\t\tcaptures processed: " << proc->n_capture_callback_
+ << "\n\t\taverage time: " << 1e-9*proc->duration_capture_.count() / proc->n_capture_callback_ << " s"
+ << "\n\tProcessing keyframes:"
+ << "\n\t\ttotal time: " << 1e-9*proc->duration_kf_.count() << " s"
+ << "\n\t\tkf processed: " << proc->n_kf_callback_
+ << "\n\t\taverage time: " << 1e-9*proc->duration_kf_.count() / proc->n_kf_callback_ << " s" << std::endl;
}
+ std::cout << profiling_str.str();
+
+ ofstream profiling_file;
+ profiling_file.open (std::string(std::getenv("HOME")) + "/wolf_profiling.txt");
+ if (not profiling_file.is_open())
+ ROS_ERROR("Error in opening file to store profiling!");
+ profiling_file << profiling_str.str();
profiling_file.close();
- return 0;
- // file.close();
return 0;
}
--
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