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The purpose of profiling a module is to use tools (here we use google-perftools) to examine the performance problems of a module.
The Apollo development docker has all the profiling tools you need configured. Therefore, you can do all the following steps in the Apollo development docker.
First, build Apollo in profiling mode
bash apollo.sh clean
bash apollo.sh build_prof
To profile a module, you need to provide its input data to make sure the majority of its code can be exercised. You can start play an information-rich rosbag by
rosbag play -l your_rosbag.bag
or after Apollo 3.5, run
cyber_record play -f your_record.record
Start your module with the following command
CPUPROFILE=/tmp/${MODULE}.prof /path/to/module/bin/${MODULE} --flagfile=modules/${MODULE}/conf/${MODULE}.conf \
--${MODULE}_test_mode \
--${MODULE}_test_duration=60.0 \
--log_dir=/apollo/data/log
Where MODULE is the name of the module you want to test.
or after Apollo 3.5, use
CPUPROFILE=/tmp/${MODULE}.prof mainboard -d /apollo/modules/${MODULE}/dag/${MODULE}.dag --flagfile=modules/${MODULE}/conf/${MODULE}.conf \
--${MODULE}_test_mode \
--${MODULE}_test_duration=60.0 \
--log_dir=/apollo/data/log
Each module should have a pre-defined ${MODULE}_test_mode
and ${MODULE}_test_duration gflag.
These two flags tells the module to run for ${MODULE}_test_duration amount of time when ${MODULE}_test_mode is true.
Most of Apollo modules already have these two gflags. If they does not exist in the module you are interested in, you can define it by yourself. You can refer to gflag planning_test_mode and planning_test_duration to see how they are being used.
Finally you can create a pdf report to view the profiling result.
google-pprof --pdf --lines /path/to/module/bin/${MODULE} /tmp/${MODULE}.prof > ${MODULE}_profiling.pdf
or after 3.5, run
google-pprof --pdf --lines /path/to/module/component_lib/$lib{MODULE}_component_lib.so /tmp/${MODULE}.prof > ${MODULE}_profiling.pdf
Here is an example command of starting the planning module.
CPUPROFILE=/tmp/planning.prof /apollo/bazel-bin/modules/planning/planning \
--flagfile=modules/planning/conf/planning.conf \
--log_dir=/apollo/data/log \
--planning_test_mode \
--test_duration=65.0
google-pprof --pdf --lines /apollo/bazel-bin/modules/planning/planning /tmp/planning.prof > planning_prof.pdf
or after Apollo 3.5, run
CPUPROFILE=/tmp/planning.prof mainboard -d /apollo/modules/planning/dag/planning.dag \
--flagfile=modules/planning/conf/planning.conf \
--log_dir=/apollo/data/log \
--planning_test_mode \
--test_duration=65.0
google-pprof --pdf --lines /apollo/bazel-bin/modules/planning/libplanning_component_lib.so /tmp/planning.prof > planning_prof.pdf
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