Add Tracy Profiler

CMakeLists.txt

@@ -57,6 +57,7 @@ target_include_directories(roboteam_ai_skills
         PRIVATE include/roboteam_ai
 )
 target_link_libraries(roboteam_ai_skills
+        PRIVATE Tracy::TracyClient
         PRIVATE roboteam_networking
         PRIVATE roboteam_utils
         PRIVATE Qt5::Widgets
@@ -93,6 +94,7 @@ target_include_directories(roboteam_ai_tactics
         PRIVATE include/roboteam_ai
 )
 target_link_libraries(roboteam_ai_tactics
+        PRIVATE Tracy::TracyClient
         PRIVATE roboteam_utils
         PRIVATE roboteam_networking
         PRIVATE Qt5::Widgets
@@ -177,6 +179,7 @@ target_include_directories(roboteam_ai_plays
         PRIVATE include/roboteam_ai
 )
 target_link_libraries(roboteam_ai_plays
+        PRIVATE Tracy::TracyClient
         PUBLIC roboteam_interface_utils_lib
         PRIVATE roboteam_networking
         PRIVATE roboteam_utils
@@ -290,6 +293,7 @@ target_include_directories(roboteam_ai_control
         PRIVATE include/roboteam_ai
 )
 target_link_libraries(roboteam_ai_control
+        PRIVATE Tracy::TracyClient
         PRIVATE roboteam_networking
         PRIVATE roboteam_utils
         PRIVATE Qt5::Widgets
@@ -364,6 +368,7 @@ target_include_directories(roboteam_ai_world
         PRIVATE include/roboteam_ai
 )
 target_link_libraries(roboteam_ai_world
+        PRIVATE Tracy::TracyClient
         PRIVATE roboteam_networking
         PRIVATE roboteam_utils
         PRIVATE Qt5::Widgets
@@ -379,6 +384,7 @@ target_include_directories(roboteam_ai
         PRIVATE include/roboteam_ai
 )
 target_link_libraries(roboteam_ai
+        PRIVATE Tracy::TracyClient
         PRIVATE roboteam_utils
         PRIVATE Qt5::Widgets
         PRIVATE roboteam_networking

src/STPManager.cpp

@@ -4,6 +4,8 @@
 #include <stp/plays/referee_specific/TimeOut.h>
 #include <utilities/normalize.h>
 
+#include "tracy/Tracy.hpp"
+
 #include <chrono>
 
 #include "control/ControlModule.h"
@@ -100,13 +102,8 @@ void STPManager::start() {
     roboteam_utils::Timer stpTimer;
     stpTimer.loop(
         [&]() {
-            // uncomment the 4 lines of code below to time and display the duration of each loop of the AI
-            // std::chrono::steady_clock::time_point tStart = std::chrono::steady_clock::now();
+            ZoneScopedN("STP Loop");
             runOneLoopCycle();
-            // std::chrono::steady_clock::time_point tStop = std::chrono::steady_clock::now();
-
-            // auto loopcycleDuration = std::chrono::duration_cast<std::chrono::milliseconds>((tStop - tStart)).count();
-            // RTT_DEBUG("Loop cycle duration = ", loopcycleDuration);
             amountOfCycles++;
 
             // update the measured FPS, but limit this function call to only run 5 times/s at most
@@ -179,6 +176,7 @@ void STPManager::runOneLoopCycle() {
 }
 
 void STPManager::decidePlay(world::World *_world) {
+    ZoneScopedN("Decide Play");
     ai::stp::PlayEvaluator::clearGlobalScores();  // reset all evaluations
     ai::stp::ComputationManager::clearStoredComputations();
 

src/control/positionControl/BBTrajectories/WorldObjects.cpp

@@ -3,6 +3,7 @@
 //
 #include "control/positionControl/BBTrajectories/WorldObjects.h"
 
+#include "tracy/Tracy.hpp"
 #include <algorithm>
 
 #include "world/World.hpp"
@@ -14,6 +15,7 @@ WorldObjects::WorldObjects() = default;
 
 std::optional<CollisionData> WorldObjects::getFirstCollision(const rtt::world::World *world, const rtt::world::Field &field, const Trajectory2D &Trajectory,
                                                              const std::unordered_map<int, std::vector<Vector2>> &computedPaths, int robotId, ai::stp::AvoidObjects avoidObjects) {
+    ZoneScopedN("Get First Collision");
     gameState = rtt::ai::GameStateManager::getCurrentGameState();
     ruleset = gameState.getRuleSet();
     // TODO: return the kind of collision

src/control/positionControl/PositionControl.cpp

@@ -6,7 +6,7 @@
 
 #include "control/positionControl/BBTrajectories/BBTrajectory2D.h"
 #include "roboteam_utils/Print.h"
-
+#include "tracy/Tracy.hpp"
 namespace rtt::ai::control {
 RobotCommand PositionControl::computeAndTrackPath(const rtt::world::Field &field, int robotId, const Vector2 &currentPosition, const Vector2 &currentVelocity,
                                                   Vector2 &targetPosition, stp::PIDType pidType) {
@@ -41,6 +41,7 @@ void PositionControl::setRobotPositions(std::vector<Vector2> &robotPositions) {
 rtt::BB::CommandCollision PositionControl::computeAndTrackTrajectory(const rtt::world::World *world, const rtt::world::Field &field, int robotId, Vector2 currentPosition,
                                                                      Vector2 currentVelocity, Vector2 targetPosition, double maxRobotVelocity, stp::PIDType pidType,
                                                                      stp::AvoidObjects avoidObjects) {
+    ZoneScopedN("ComputeAndTrackTrajectory");
     double timeStep = 0.1;
 
     std::optional<BB::CollisionData> firstCollision;

src/stp/Play.cpp

@@ -6,6 +6,7 @@
 
 #include "control/ControlUtils.h"
 #include "interface/widgets/MainControlsWidget.h"
+#include "tracy/Tracy.hpp"
 
 namespace rtt::ai::stp {
 
@@ -30,6 +31,7 @@ void Play::setWorld(world::World *world) noexcept { this->world = world; }
 void Play::updateField(world::Field field) noexcept { this->field = field; }
 
 void Play::update() noexcept {
+    ZoneScopedN("Play Update");
     // clear roleStatuses so it only contains the current tick's statuses
     roleStatuses.clear();
     //    RTT_INFO("Play executing: ", getName())

src/stp/Skill.cpp

@@ -6,6 +6,7 @@
 
 #include "control/ControlModule.h"
 #include "world/World.hpp"
+#include "tracy/Tracy.hpp"
 
 namespace rtt::ai::stp {
 
@@ -28,6 +29,7 @@ void Skill::refreshRobotCommand() noexcept {
 void Skill::terminate() noexcept {}
 
 Status Skill::update(StpInfo const& info) noexcept {
+    ZoneScopedN("Skill Update");
     robot = info.getRobot();
     auto result = onUpdate(info);
     currentStatus = result;

src/stp/Tactic.cpp

@@ -5,6 +5,7 @@
 #include "stp/Tactic.h"
 
 #include <roboteam_utils/Print.h>
+#include "tracy/Tracy.hpp"
 
 namespace rtt::ai::stp {
 
@@ -15,6 +16,7 @@ void Tactic::initialize() noexcept {
 }
 
 Status Tactic::update(StpInfo const &info) noexcept {
+    ZoneScopedN("Tactic Update");
     // Update skill info
     auto skill_info = calculateInfoForSkill(info);
 

src/world/World.cpp

@@ -3,6 +3,7 @@
 //
 
 #include "world/World.hpp"
+#include "tracy/Tracy.hpp"
 
 namespace rtt::world {
 WorldData const &World::setWorld(WorldData &newWorld) noexcept {
@@ -91,6 +92,7 @@ void World::updateTickTime() noexcept {
 }
 
 void World::updatePositionControl() {
+    ZoneScopedN("Update Position Control");
     std::vector<Vector2> robotPositions(getWorld()->getRobotsNonOwning().size());
     std::transform(getWorld()->getRobotsNonOwning().begin(), getWorld()->getRobotsNonOwning().end(), robotPositions.begin(),
                    [](const auto &robot) -> Vector2 { return (robot->getPos()); });