Debugging switches in timing statements, and additional timing statements

gtsam/base/timing.cpp

@@ -12,7 +12,7 @@
 /**
  * @file    timing.cpp
  * @brief   
- * @author  Richard Roberts (extracted from Michael Kaess' timing functions)
+ * @author  Richard Roberts, Michael Kaess
  * @created Oct 5, 2010
  */
 

gtsam/base/timing.h

@@ -17,6 +17,7 @@
  */
 #pragma once
 
+#include <gtsam/base/debug.h>
 #include <stdio.h>
 #include <string>
 #include <iostream>
@@ -29,52 +30,6 @@
 #include <boost/format.hpp>
 
 
-
-//class AutoTimer {
-//protected:
-//  boost::weak_ptr<TimingOutline> node_;
-//  struct timeval t0_;
-//
-//  AutoTimer(const boost::weak_ptr<TimingOutline>& node) :
-//    node_(node) {
-//    boost::shared_ptr<TimingOutline> nodeS(node_.lock());
-//    if(nodeS->activeTimer) {
-//      cerr << "Double createTimer in timing \"" << label_ << "\", exiting" << endl;
-//      exit(1);
-//    }
-//    nodeS->activeTimer = this;
-//    gettimeofday(&t, NULL);
-//  }
-//
-//  AutoTimer(const AutoTimer& timer) :
-//    node_(timer.node_), t0_(timer.t0_) {
-//    node_.lock()->activeTimer_ = this;
-//  }
-//
-//  ~AutoTimer() {
-//    if(node_ && node_.lock()->actimeTimer_ == this)
-//      release();
-//  }
-//
-//  AutoTimer& operator=(const AutoTimer& rhs) {
-//    throw std::runtime_error("AutoTimer is not assignable, use copy constructor instead.");
-//  }
-//
-//  void release() {
-//    struct timeval t;
-//    gettimeofday(&t, NULL);
-//    boost::shared_ptr<TimingOutline> node(node_.lock());
-//    if(node && node->activeTimer_ == *this) {
-//      size_t dt = t.tv_sec*1000000 + t.tv_usec - (t0_.tv_sec*1000000 + t0_.tv_usec);
-//      node->add(dt);
-//      node->activeTimer = 0;
-//    } else {
-//      cerr << "Double release in timing \"" << node_.lock()->label_ << "\", exiting" << endl;
-//      exit(1);
-//    }
-//  }
-//};
-
 class TimingOutline;
 extern boost::shared_ptr<TimingOutline> timingRoot;
 extern boost::weak_ptr<TimingOutline> timingCurrent;
@@ -92,17 +47,17 @@ protected:
   struct timeval t0_;
   bool timerActive_;
 
-  void add(size_t usecs) {
+  inline void add(size_t usecs) {
     t_ += usecs;
     tIt_ += usecs;
     ++ n_;
   }
 
 public:
-  TimingOutline(const std::string& label) :
+  inline TimingOutline(const std::string& label) :
     t_(0), tIt_(0), tMax_(0), tMin_(0), n_(0), label_(label), timerActive_(false) {}
 
-  size_t time() const {
+  inline size_t time() const {
     size_t time = 0;
     bool hasChildren = false;
     BOOST_FOREACH(const boost::shared_ptr<TimingOutline>& child, children_) {
@@ -117,7 +72,7 @@ public:
       return t_;
   }
 
-  void print(const std::string& outline = "") const {
+  inline void print(const std::string& outline = "") const {
     std::cout << outline << " " << label_ << ": " << double(t_)/1000000.0 << " (" <<
         n_ << " times, " << double(time())/1000000.0 << " children, min: " << double(tMin_)/1000000.0 <<
         " max: " << double(tMax_)/1000000.0 << ")\n";
@@ -136,7 +91,7 @@ public:
     }
   }
 
-  const boost::shared_ptr<TimingOutline>& child(size_t child, const std::string& label, const boost::weak_ptr<TimingOutline>& thisPtr) {
+  inline const boost::shared_ptr<TimingOutline>& child(size_t child, const std::string& label, const boost::weak_ptr<TimingOutline>& thisPtr) {
     assert(thisPtr.lock().get() == this);
     // Resize if necessary
     if(child >= children_.size())
@@ -157,13 +112,13 @@ public:
     return children_[child];
   }
 
-  void tic() {
+  inline void tic() {
     assert(!timerActive_);
     timerActive_ = true;
     gettimeofday(&t0_, NULL);
   }
 
-  void toc() {
+  inline void toc() {
     struct timeval t;
     gettimeofday(&t, NULL);
     assert(timerActive_);
@@ -171,7 +126,7 @@ public:
     timerActive_ = false;
   }
 
-  void finishedIteration() {
+  inline void finishedIteration() {
     if(tIt_ > tMax_)
       tMax_ = tIt_;
     if(tMin_ == 0 || tIt_ < tMin_)
@@ -188,26 +143,46 @@ public:
 };
 
 inline void tic_(size_t id, const std::string& label) {
+  if(ISDEBUG("timing-verbose"))
+    std::cout << "tic(" << id << ", " << label << ")" << std::endl;
   boost::shared_ptr<TimingOutline> node = timingCurrent.lock()->child(id, label, timingCurrent);
   timingCurrent = node;
   node->tic();
 }
 
 inline void toc_(size_t id) {
+  if(ISDEBUG("timing-verbose"))
+    std::cout << "toc(" << id << ")" << std::endl;
   boost::shared_ptr<TimingOutline> current(timingCurrent.lock());
-  assert(id < current->parent_.lock()->children_.size() && current->parent_.lock()->children_[id] == current);
+  if(!(id < current->parent_.lock()->children_.size() && current->parent_.lock()->children_[id] == current)) {
+    std::cout << "gtsam timing:  Incorrect ID passed to toc" << std::endl;
+    timingRoot->print();
+    throw std::invalid_argument("gtsam timing:  Incorrect ID passed to toc");
+  }
   current->toc();
+  if(!current->parent_.lock()) {
+    std::cout << "gtsam timing:  extra toc, already at the root" << std::endl;
+    timingRoot->print();
+    throw std::invalid_argument("gtsam timing:  extra toc, already at the root");
+  }
   timingCurrent = current->parent_;
 }
 
 inline void toc_(size_t id, const std::string& label) {
-#ifndef NDEBUG
+  if(ISDEBUG("timing-verbose"))
+    std::cout << "toc(" << id << ", " << label << ")" << std::endl;
+#ifdef NDEBUG
+  // If NDEBUG is defined, still do this debug check if the granular debugging
+  // flag is enabled.  If NDEBUG is not defined, always do this check.
+  if(ISDEBUG("timing-debug"))
+#endif
+  {
     if(label != timingCurrent.lock()->label_) {
       std::cerr << "gtsam timing:  toc called with id=" << id << ", label=\"" << label << "\", but expecting \"" << timingCurrent.lock()->label_ << "\"" << std::endl;
       timingRoot->print();
       exit(1);
     }
-#endif
+  }
   toc_(id);
 }
 

gtsam/linear/GaussianMultifrontalSolver.cpp

@@ -53,7 +53,10 @@ BayesTree<GaussianConditional>::shared_ptr GaussianMultifrontalSolver::eliminate
 
 /* ************************************************************************* */
 VectorValues::shared_ptr GaussianMultifrontalSolver::optimize() const {
-  return VectorValues::shared_ptr(new VectorValues(junctionTree_->optimize()));
+  tic(2,"optimize");
+  VectorValues::shared_ptr values(new VectorValues(junctionTree_->optimize()));
+  toc(2,"optimize");
+  return values;
 }
 
 /* ************************************************************************* */

gtsam/linear/GaussianSequentialSolver.cpp

@@ -16,6 +16,7 @@
  * @created Oct 19, 2010
  */
 
+#include <gtsam/base/timing.h>
 #include <gtsam/linear/GaussianSequentialSolver.h>
 
 #include <gtsam/inference/GenericSequentialSolver-inl.h>
@@ -59,16 +60,20 @@ VectorValues::shared_ptr GaussianSequentialSolver::optimize() const {
   if(debug) this->factors_->print("GaussianSequentialSolver, eliminating ");
   if(debug) this->eliminationTree_->print("GaussianSequentialSolver, elimination tree ");
 
+  tic(1,"eliminate");
   // Eliminate using the elimination tree
   GaussianBayesNet::shared_ptr bayesNet(this->eliminate());
+  toc(1,"eliminate");
 
   if(debug) bayesNet->print("GaussianSequentialSolver, Bayes net ");
 
   // Allocate the solution vector if it is not already allocated
 //  VectorValues::shared_ptr solution = allocateVectorValues(*bayesNet);
 
+  tic(2,"optimize");
   // Back-substitute
   VectorValues::shared_ptr solution(gtsam::optimize_(*bayesNet));
+  toc(2,"optimize");
 
   if(debug) solution->print("GaussianSequentialSolver, solution ");