diff --git a/CMakeLists.txt b/CMakeLists.txt
index 544b50a275a81d586d14c2bd48c299dd4416b376..e4180625fa8080f7a099a60a444c09ebf5c585f0 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -28,6 +28,9 @@ SET(PROJECT_NAME hpp-rbprm-corba)
SET(PROJECT_DESCRIPTION "Corba server for reachability based planning")
SET(PROJECT_URL "")
+# Set to 1 for profiling
+#~ add_definitions(-DPROFILE)
+
SET(CUSTOM_HEADER_DIR hpp/corbaserver/rbprm)
SETUP_PROJECT ()
diff --git a/profile/profile.py b/profile/profile.py
index df5678797d7a3309f86d4e28191b47cca6c9eb4c..89f98794eb5c2f6c03dd04f88fca5209ae38c099 100644
--- a/profile/profile.py
+++ b/profile/profile.py
@@ -2,58 +2,71 @@
import subprocess as sp
import os
+import datetime
-scenarios = ['stair_bauzil_hrp2']#,'standing_hrp2','darpa_hrp2']
-n_trials = 3
+scenarios = ['standing_hrp2']#'stair_bauzil_hrp2','standing_hrp2','darpa_hrp2']
+n_trials = 10
+stats = ['balance','collision','ik']
python_script_extension = "_interp.py"
analysis = {}
lower = -100000
higher = 100000000
-#~
-#~ *** PROFILING RESULTS [ms] (min - avg - max - lastTime - nSamples) ***
-#~ complete generation 5110.09 5110.09 5110.09 5110.09 1
-#~ test balance 0.09 0.22 0.60 0.54 1199
-#~ contact: 20
-#~ no contact: 8
-#~ planner succeeded: 1
-#~ unstable contact: 2
-#~ path computation 0.81
-#~
-#~ *** PROFILING RESULTS [ms] (min - avg - max - lastTime - nSamples) ***
-#~ complete generation 7162.32 7162.32 7162.32 7162.32 1
-#~ test balance 0.09 0.20 0.63 0.50 1431
-#~ contact: 21
-#~ no contact: 11
-#~ planner failed: 1
-#~ unstable contact: 3
-
def avg(l):
+ if(len(l) == 0):
+ return -1
return reduce(lambda x, y: x + y, l) / len(l)
+def initdata(name, data):
+ n = name
+ data[n+'_min'] = higher
+ data[n+'_max'] = lower
+ data[n] = []
+ data['total_'+n+'_min'] = higher
+ data['total_'+n+'_max'] = lower
+ data['total_'+n] = []
+ data['minnum'+n] = higher
+ data['maxnum'+n] = lower
+ data['num'+n] = []
+
+def parseLine(sep, name, line, data):
+ if sep == 1:
+ _1, _min, _avg, _max, _totaltime, _numiter = line.split()
+ elif sep ==2:
+ _1, _2, _min, _avg, _max, _totaltime, _numiter = line.split()
+ data[name+'_min'] = min(data[name+'_min'],float(_min))
+ data[name+'_max'] = max(data[name+'_max'],float(_max))
+ data['minnum'+name] = min(data['minnum'+name],float(_numiter))
+ data['maxnum'+name] = max(data['maxnum'+name],float(_numiter))
+ data['num'+name].append(float(_numiter))
+ for i in range(0,int(_numiter)):
+ data[name].append(float(_avg))
+ total_time = float(_totaltime)
+ data['total_'+name+'_min'] = min(data['total_'+name+'_min'],total_time)
+ data['total_'+name+'_max'] = max(data['total_'+name+'_max'],total_time)
+ data['total_'+name].append(total_time)
+
def parseData(scenario):
filename = scenario+"_log.txt";
- #~ os.rename("log.txt", filename)
+ os.rename("log.txt", filename)
analysis[scenario] = {}
data = analysis[scenario]
data['no contact'] = 0
data['contact'] = 0
data['unstable contact'] = 0
- data['balance_min'] = higher
- data['balance_max'] = lower
- data['balance'] = []
- data['minnumbalance'] = higher
- data['maxnumbalance'] = lower
- data['numbalance'] = []
data['mingen_time'] = higher
data['maxgen_time'] = lower
data['gen_time'] = []
data['failed'] = 0
data['success'] = 0
data['path_time'] = []
+ data['min_path_time'] = higher
+ data['max_path_time'] = lower
+ for stat in stats:
+ initdata(stat, data)
file = open(filename,"r+");
for line in file.readlines():
if not (line.find('complete generation') == -1):
@@ -62,15 +75,11 @@ def parseData(scenario):
data['maxgen_time'] = max(data['maxgen_time'],float(time))
data['gen_time'].append(time);
elif not (line.find('test balance') == -1):
- print line.split()
- _1, _2, _min, _avg, _max, _last, _numiter = line.split()
- data['balance_min'] = min(data['balance_min'],float(_min))
- data['balance_max'] = max(data['balance_max'],float(_max))
- data['minnumbalance'] = min(data['minnumbalance'],float(_numiter))
- data['maxnumbalance'] = max(data['maxnumbalance'],float(_numiter))
- data['numbalance'].append(float(_numiter))
- for i in range(0,1): #int(_numiter)):
- data['balance'].append(float(_avg))
+ parseLine(2, 'balance', line, data)
+ elif not (line.find('collision') == -1):
+ parseLine(1, 'collision', line, data)
+ elif not (line.find('ik') == -1):
+ parseLine(1, 'ik', line, data)
elif not (line.find('no contact:') == -1):
data['no contact'] = data['no contact'] + float(line.rstrip("\n").split()[2]);
elif not (line.find('unstable contact:') == -1):
@@ -82,23 +91,60 @@ def parseData(scenario):
elif not (line.find('planner succeeded') == -1):
data['success'] = data['success'] + 1;
elif not (line.find('path computation') == -1):
- data['path_time'].append(float(line.rstrip("\n").split()[2]));
+ time = float(line.rstrip("\n").split()[2])
+ data['path_time'].append(time);
+ data['min_path_time'] = min(data['min_path_time'],time)
+ data['max_path_time'] = max(data['max_path_time'],time)
+
+def printOneStat(f, name, data, g_time, tTime):
+ n = name
+ d = data
+ print(n, len(d[n]))
+ d[n] = avg(d[n])
+ d['num'+n] = avg(d['num'+n])
+ d['total_'+n] = avg(d['total_'+n])
+ f.write (n +" tests: \n")
+ f.write ("\t single operation time (min / avg / max):\n \t " + str(d[n+'_min']) + "\t" + str(d[n]) + "\t" + str(d[n+'_max']) + "\t \n")
+ f.write ("\t total time (min / avg / max / % of total / % of total wtht path planning):\n \t " + str(d['total_'+n+'_min']) + "\t" + str(d['total_'+n]) + "\t" + str(d['total_'+n+'_max']) + "\t" + str(float(d['total_'+n]) / tTime * 100) + "%" + "\t" + str(float(d['total_'+n]) / g_time * 100) + "%\n")
+ f.write ("\t number of tests (min / avg / max):\n \t " + str(d['minnum'+n]) + "\t" + str(d['num'+n]) + "\t" + str(d['maxnum'+n]) + "\n")
+
+
def analyzeData():
+ f = open("log_"+str(datetime.datetime.now())+".txt","w+")
+
for scenario in scenarios:
- data = analysis[scenario]
- data['balance'] = avg(data['balance'])
- data['numbalance'] = avg(data['numbalance'])
- data['path_time'] = avg(data['path_time'])
- data['gen_time'] = avg(data['gen_time'])
- print(analysis)
+ d = analysis[scenario]
+ d['path_time'] = avg(d['path_time'])
+ d['gen_time'] = avg(d['gen_time'])
+ g_time = d['gen_time']
+ tTime = d['gen_time'] + d['path_time']
+ f.write (scenario +":\n")
+
+ f.write ("total computation time (min / avg / max): " + str(d['mingen_time'] + d['min_path_time']) + "\t" + str(tTime) + "\t" + str(d['maxgen_time'] + d['max_path_time']) + "\n")
+
+ f.write ("generation time (without RRT) (min / avg / max / % of total):\n \t " + str(d['mingen_time']) + "\t" + str(d['gen_time']) + "\t" + str(d['maxgen_time']) + "\t"+ str(float(d['gen_time']) / tTime * 100) + "%\n")
+
+ f.write ("path computation: \n")
+ f.write ("\t time (min / avg / max / % of total):\n \t " + str(d['min_path_time']) + "\t" + str(d['path_time']) + "\t" + str(d['max_path_time']) + "\t" + str(float(d['path_time']) / tTime * 100) + "%\n")
+
+ for stat in stats:
+ printOneStat(f, stat, d, g_time, tTime)
+
+ f.write ("number of successes / failures / ratio: " + str(d['success']) + "\t" + str(d['failed']) + "\t" + str(float(d['success']) / float(d['success']) * 100) + "%\n")
+
+ nc = float(d['no contact'])
+ c = float(d['contact'])
+ uc = float(d['unstable contact'])
+ tc = nc + c + uc
+ f.write ("% of failed contact generation (no candidates found): " + str(nc / tc * 100) + "%\n")
+ f.write ("% of unstable contact generation (no balanced candidates found): " + str(uc / tc * 100) + "%\n")
+ f.write ("\n \n \n")
+ f.close()
for scenario in scenarios:
for i in range(0,n_trials):
var = scenario+python_script_extension;
- #~ print(var);
- #~ sp.check_call(["./profile.sh", str(var)]);
- # move log
+ sp.check_call(["./profile.sh", str(var)]);
parseData(scenario)
analyzeData()
- #~ os.rename("logpath.txt", scenario+"_log_path.txt")
diff --git a/script/scenarios/run.sh b/script/scenarios/run.sh
new file mode 100755
index 0000000000000000000000000000000000000000..288a6141e22288d58b8c1b3e84180449dd2d111d
--- /dev/null
+++ b/script/scenarios/run.sh
@@ -0,0 +1,8 @@
+#!/bin/bash
+
+gepetto-viewer-server &
+hpp-rbprm-server &
+ipython -i ./$1
+
+pkill -f 'gepetto-viewer-server'
+pkill -f 'hpp-rbprm-server'
diff --git a/script/scenarios/rund.sh b/script/scenarios/rund.sh
new file mode 100755
index 0000000000000000000000000000000000000000..a8534fde0d7615e17af169035664706b333e9842
--- /dev/null
+++ b/script/scenarios/rund.sh
@@ -0,0 +1,6 @@
+#!/bin/bash
+
+gepetto-viewer-server &
+ipython -i ./$1
+
+pkill -f 'gepetto-viewer-server'