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1. MPI_Allgatherv, version 0.6.3 

2. modify printing results in world.cc
This commit is contained in:
zhangshuai 2019-10-23 16:16:26 +08:00
parent f70992b537
commit 648752d2a6
1 changed files with 83 additions and 22 deletions
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105
Gazebo_Distributed_MPI/gazebo/physics/World.cc
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@ -86,6 +86,7 @@
#include "gazebo/physics/Population.hh" #include "gazebo/physics/Population.hh"
#include "gazebo/countTime.hh" // Added by zhangshuai 2019.04.03 for count time #include "gazebo/countTime.hh" // Added by zhangshuai 2019.04.03 for count time
// #include <iomanip> // Added by zhangshuai 2019.10.23 for print results
using namespace gazebo; using namespace gazebo;
using namespace physics; using namespace physics;
@ -96,14 +97,15 @@ bool g_clearModels;
// Added by zhangshuai 2019.04.03 for count time ----Begin // Added by zhangshuai 2019.04.03 for count time ----Begin
#ifdef USE_COUNT_TIME #ifdef USE_COUNT_TIME
double before_worldUpdateBeginTime = 0; double before_worldUpdateBeginTime = 0; // little
double worldUpdateBeginTime = 0; double worldUpdateBeginTime = 0;
double modelUpdateFuncTime = 0; double modelUpdateFuncTime = 0; // little
double updateCollisionTime = 0; double updateCollisionTime = 0;
double loggingTime = 0; double loggingTime = 0; // little
double before_updatePhysicsTime = 0; double before_updatePhysicsTime = 0; // little
double updatePhysicsTime = 0; double updatePhysicsTime = 0;
double before_mpiTime = 0; double before_mpiTime = 0;
double barrierTime = 0;
double mpiTime = 0; double mpiTime = 0;
double after_mpiTime = 0; double after_mpiTime = 0;
double wholeUpdataTime = 0; double wholeUpdataTime = 0;
@ -116,9 +118,11 @@ double loggingTime2 = 0;
double before_updatePhysicsTime2 = 0; double before_updatePhysicsTime2 = 0;
double updatePhysicsTime2 = 0; double updatePhysicsTime2 = 0;
double before_mpiTime2 = 0; double before_mpiTime2 = 0;
double barrierTime2 = 0;
double mpiTime2 = 0; double mpiTime2 = 0;
double after_mpiTime2 = 0; double after_mpiTime2 = 0;
double wholeUpdataTime2 = 0; double wholeUpdataTime2 = 0;
double simtime = 0; double simtime = 0;
double realtime = 0; double realtime = 0;
uint64_t start_iterations = 0; uint64_t start_iterations = 0;
@ -988,8 +992,20 @@ void World::Update()
#endif #endif
// Added by zhangshuai 2019.04.03 for count time ----End // Added by zhangshuai 2019.04.03 for count time ----End
// Added by zhangshuai 2019.04.03 for count time ----Begin
#ifdef USE_COUNT_TIME
gettimeofday(&tv, NULL);
cur_time = (double)tv.tv_sec + (double)tv.tv_usec / 1.e6;
#endif
MPI_Barrier(MPI_COMM_WORLD); MPI_Barrier(MPI_COMM_WORLD);
// Added by zhangshuai 2019.04.03 for count time ----Begin
#ifdef USE_COUNT_TIME
gettimeofday(&tv, NULL);
barrierTime += (double)tv.tv_sec + (double)tv.tv_usec / 1.e6 - cur_time;
#endif
// Added by zhangshuai 2019.04.03 for count time ----Begin // Added by zhangshuai 2019.04.03 for count time ----Begin
#ifdef USE_COUNT_TIME #ifdef USE_COUNT_TIME
gettimeofday(&tv, NULL); gettimeofday(&tv, NULL);
@ -1068,7 +1084,7 @@ void World::Update()
#ifdef USE_COUNT_TIME #ifdef USE_COUNT_TIME
// std::cout << "===== end iterations:\t" << this->dataPtr->iterations << std::endl; // std::cout << "===== end iterations:\t" << this->dataPtr->iterations << std::endl;
if (this->dataPtr->iterations == 0) if (this->dataPtr->iterations == 1)
{ {
before_worldUpdateBeginTime2 = before_worldUpdateBeginTime; before_worldUpdateBeginTime2 = before_worldUpdateBeginTime;
worldUpdateBeginTime2 = worldUpdateBeginTime; worldUpdateBeginTime2 = worldUpdateBeginTime;
@ -1078,6 +1094,7 @@ void World::Update()
before_updatePhysicsTime2 = before_updatePhysicsTime; before_updatePhysicsTime2 = before_updatePhysicsTime;
updatePhysicsTime2 = updatePhysicsTime; updatePhysicsTime2 = updatePhysicsTime;
before_mpiTime2 = before_mpiTime; before_mpiTime2 = before_mpiTime;
barrierTime2 = barrierTime;
mpiTime2 = mpiTime; mpiTime2 = mpiTime;
after_mpiTime2 = after_mpiTime; after_mpiTime2 = after_mpiTime;
wholeUpdataTime2 = wholeUpdataTime; wholeUpdataTime2 = wholeUpdataTime;
@ -1086,26 +1103,70 @@ void World::Update()
start_iterations = this->dataPtr->iterations; start_iterations = this->dataPtr->iterations;
} }
if (this->dataPtr->iterations == 100000) if (this->dataPtr->iterations == 100001)
{ {
// if (this->gazeboLocalID == 0) // if (this->gazeboLocalID == 0)
// { // {
std::cout << "===== average before_worldUpdateBeginTime:\t" << (before_worldUpdateBeginTime - before_worldUpdateBeginTime2) * 1000.0 / (this->dataPtr->iterations - start_iterations) << "\tms =====\t" << this->gazeboLocalID << std::endl; double ave_RTF = (this->GetSimTime().Double() - simtime) / (this->GetRealTime().Double() - realtime);
std::cout << "===== average worldUpdateBeginTime:\t" << (worldUpdateBeginTime - worldUpdateBeginTime2) * 1000.0 / (this->dataPtr->iterations - start_iterations) << "\tms =====\t" << this->gazeboLocalID << std::endl; double ave_wholeStepTime = 1.0 / ave_RTF;
std::cout << "===== average modelUpdateFuncTime:\t" << (modelUpdateFuncTime - modelUpdateFuncTime2) * 1000.0 / (this->dataPtr->iterations - start_iterations) << "\tms =====\t" << this->gazeboLocalID << std::endl; // double ave_wholeUpdateTime = (wholeUpdataTime - wholeUpdataTime2) * 1000.0 / (this->dataPtr->iterations - start_iterations);
std::cout << "===== average updateCollisionTime:\t" << (updateCollisionTime - updateCollisionTime2) * 1000.0 / (this->dataPtr->iterations - start_iterations) << "\tms =====\t" << this->gazeboLocalID << std::endl; double ave_worldUpdateBeginTime = (worldUpdateBeginTime - worldUpdateBeginTime2) * 1000.0 / (this->dataPtr->iterations - start_iterations);
std::cout << "===== average loggingTime:\t" << (loggingTime - loggingTime2) * 1000.0 / (this->dataPtr->iterations - start_iterations) << "\tms =====\t" << this->gazeboLocalID << std::endl; double ave_updateCollisionTime = (updateCollisionTime - updateCollisionTime2) * 1000.0 / (this->dataPtr->iterations - start_iterations);
std::cout << "===== average before_updatePhysicsTime:\t" << (before_updatePhysicsTime - before_updatePhysicsTime2) * 1000.0 / (this->dataPtr->iterations - start_iterations) << "\tms =====\t" << this->gazeboLocalID << std::endl; double ave_updatePhysicsTime = (updatePhysicsTime - updatePhysicsTime2) * 1000.0 / (this->dataPtr->iterations - start_iterations);
std::cout << "===== average updatePhysicsTime:\t" << (updatePhysicsTime - updatePhysicsTime2) * 1000.0 / (this->dataPtr->iterations - start_iterations) << "\tms =====\t" << this->gazeboLocalID << std::endl; double ave_barrierTime = (barrierTime - barrierTime2) * 1000.0 / (this->dataPtr->iterations - start_iterations);
std::cout << "===== average before_mpiTime:\t" << (before_mpiTime - before_mpiTime2) * 1000.0 / (this->dataPtr->iterations - start_iterations) << "\tms =====\t" << this->gazeboLocalID << std::endl; double ave_before_mpiTime = (before_mpiTime - before_mpiTime2) * 1000.0 / (this->dataPtr->iterations - start_iterations);
std::cout << "===== average mpiTime:\t" << (mpiTime - mpiTime2) * 1000.0 / (this->dataPtr->iterations - start_iterations) << "\tms =====\t" << this->gazeboLocalID << std::endl; double ave_mpiTime = (mpiTime - mpiTime2) * 1000.0 / (this->dataPtr->iterations - start_iterations);
std::cout << "===== average after_mpiTime:\t" << (after_mpiTime - after_mpiTime2) * 1000.0 / (this->dataPtr->iterations - start_iterations) << "\tms =====\t" << this->gazeboLocalID << std::endl; double ave_after_mpiTime = (after_mpiTime - after_mpiTime2) * 1000.0 / (this->dataPtr->iterations - start_iterations);
double wholeMpiTime = before_mpiTime + mpiTime + after_mpiTime - (before_mpiTime2 + mpiTime2 + after_mpiTime2); double ave_wholeMpiTime = ave_before_mpiTime + ave_mpiTime + ave_after_mpiTime;
std::cout << "===== average wholeMpiTime:\t" << wholeMpiTime * 1000.0 / (this->dataPtr->iterations - start_iterations) << "\tms =====\t" << this->gazeboLocalID << std::endl; double ave_othersTime = ave_wholeStepTime - ave_wholeMpiTime - ave_barrierTime - ave_updatePhysicsTime - ave_updateCollisionTime - ave_worldUpdateBeginTime;
double wholeAddTime = before_worldUpdateBeginTime + worldUpdateBeginTime + modelUpdateFuncTime + updateCollisionTime + loggingTime + before_updatePhysicsTime + updatePhysicsTime + before_mpiTime + mpiTime + after_mpiTime - (before_worldUpdateBeginTime2 + worldUpdateBeginTime2 + modelUpdateFuncTime2 + updateCollisionTime2 + loggingTime2 + before_updatePhysicsTime2 + updatePhysicsTime2 + before_mpiTime2 + mpiTime2 + after_mpiTime2);
std::cout << "===== average wholeAddTime:\t" << wholeAddTime * 1000.0 / (this->dataPtr->iterations - start_iterations) << "\tms =====\t" << this->gazeboLocalID << std::endl; double perce_worldUpdateBeginTime = (ave_worldUpdateBeginTime / ave_wholeStepTime) * 100;
std::cout << "===== average wholeUpdateTime:\t" << (wholeUpdataTime - wholeUpdataTime2) * 1000.0 / (this->dataPtr->iterations - start_iterations) << "\tms =====\t" << this->gazeboLocalID << std::endl; double perce_updateCollisionTime = (ave_updateCollisionTime / ave_wholeStepTime) * 100;
std::cout << "===== average RTF:\t" << (this->GetSimTime().Double() - simtime) / (this->GetRealTime().Double() - realtime) << "\t =====\t" << this->gazeboLocalID << std::endl; double perce_updatePhysicsTime = (ave_updatePhysicsTime / ave_wholeStepTime) * 100;
double perce_barrierTime = (ave_barrierTime / ave_wholeStepTime) * 100;
double perce_wholeMpiTime = (ave_wholeMpiTime / ave_wholeStepTime) * 100;
double perce_othersTime = (ave_othersTime / ave_wholeStepTime) * 100;
double perce_before_mpiTime = (ave_before_mpiTime / ave_wholeMpiTime) * 100;
double perce_mpiTime = (ave_mpiTime / ave_wholeMpiTime) * 100;
double perce_after_mpiTime = (ave_after_mpiTime / ave_wholeMpiTime) * 100;
if (this->gazeboLocalID != 0)
gazebo::common::Time::MSleep((unsigned int)this->gazeboLocalID * 100);
std::cout << "***************************************************************************" << std::endl;
std::cout << "===== average worldUpdateBeginTime:\t" << std::setiosflags(std::ios::fixed) << std::setprecision(4) << ave_worldUpdateBeginTime << " (" << std::setiosflags(std::ios::fixed) << std::setprecision(2) << perce_worldUpdateBeginTime << "%)"
<< "\tms =====\t" << this->gazeboLocalID << std::endl;
std::cout << "===== average updateCollisionTime:\t" << std::setiosflags(std::ios::fixed) << std::setprecision(4) << ave_updateCollisionTime << " (" << std::setiosflags(std::ios::fixed) << std::setprecision(2) << perce_updateCollisionTime << "%)"
<< "\tms =====\t" << this->gazeboLocalID << std::endl;
std::cout << "===== average updatePhysicsTime:\t" << std::setiosflags(std::ios::fixed) << std::setprecision(4) << ave_updatePhysicsTime << " (" << std::setiosflags(std::ios::fixed) << std::setprecision(2) << perce_updatePhysicsTime << "%)"
<< "\tms =====\t" << this->gazeboLocalID << std::endl;
std::cout << "===== average barrierTime:\t" << std::setiosflags(std::ios::fixed) << std::setprecision(4) << ave_barrierTime << " (" << std::setiosflags(std::ios::fixed) << std::setprecision(2) << perce_barrierTime << "%)"
<< "\tms =====\t" << this->gazeboLocalID << std::endl;
std::cout << "===== average wholeMpiTime:\t" << std::setiosflags(std::ios::fixed) << std::setprecision(4) << ave_wholeMpiTime << " (" << std::setiosflags(std::ios::fixed) << std::setprecision(2) << perce_wholeMpiTime << "%)"
<< "\tms =====\t" << this->gazeboLocalID << std::endl;
std::cout << "===== average othersTime:\t" << std::setiosflags(std::ios::fixed) << std::setprecision(4) << ave_othersTime << " (" << std::setiosflags(std::ios::fixed) << std::setprecision(2) << perce_othersTime << "%)"
<< "\tms =====\t" << this->gazeboLocalID << std::endl;
std::cout << "===== average wholeStepTime:\t" << std::setiosflags(std::ios::fixed) << std::setprecision(4) << ave_wholeStepTime << " (" << std::setiosflags(std::ios::fixed) << std::setprecision(2) << 100.0 << "%)"
<< "\tms =====\t" << this->gazeboLocalID << std::endl;
std::cout << "===== average RTF:\t" << std::setiosflags(std::ios::fixed) << std::setprecision(3) << ave_RTF << "\t =====\t" << this->gazeboLocalID << std::endl;
std::cout << "---------------------------------------------------------------------------" << std::endl;
std::cout << "===== average before_mpiTime:\t" << std::setiosflags(std::ios::fixed) << std::setprecision(4) << ave_before_mpiTime << " (" << std::setiosflags(std::ios::fixed) << std::setprecision(2) << perce_before_mpiTime << "%)"
<< "\tms =====\t" << this->gazeboLocalID << std::endl;
std::cout << "===== average mpiTime:\t" << std::setiosflags(std::ios::fixed) << std::setprecision(4) << ave_mpiTime << " (" << std::setiosflags(std::ios::fixed) << std::setprecision(2) << perce_mpiTime << "%)"
<< "\tms =====\t" << this->gazeboLocalID << std::endl;
std::cout << "===== average after_mpiTime:\t" << std::setiosflags(std::ios::fixed) << std::setprecision(4) << ave_after_mpiTime << " (" << std::setiosflags(std::ios::fixed) << std::setprecision(2) << perce_after_mpiTime << "%)"
<< "\tms =====\t" << this->gazeboLocalID << std::endl;
std::cout << "***************************************************************************" << std::endl;
// std::cout << "===== average before_worldUpdateBeginTime:\t" << (before_worldUpdateBeginTime - before_worldUpdateBeginTime2) * 1000.0 / (this->dataPtr->iterations - start_iterations) << "\tms =====\t" << this->gazeboLocalID << std::endl;
// std::cout << "===== average modelUpdateFuncTime:\t" << (modelUpdateFuncTime - modelUpdateFuncTime2) * 1000.0 / (this->dataPtr->iterations - start_iterations) << "\tms =====\t" << this->gazeboLocalID << std::endl;
// std::cout << "===== average loggingTime:\t" << (loggingTime - loggingTime2) * 1000.0 / (this->dataPtr->iterations - start_iterations) << "\tms =====\t" << this->gazeboLocalID << std::endl;
// std::cout << "===== average before_updatePhysicsTime:\t" << (before_updatePhysicsTime - before_updatePhysicsTime2) * 1000.0 / (this->dataPtr->iterations - start_iterations) << "\tms =====\t" << this->gazeboLocalID << std::endl;
// double wholeAddTime = before_worldUpdateBeginTime + worldUpdateBeginTime + modelUpdateFuncTime + updateCollisionTime + loggingTime + before_updatePhysicsTime + updatePhysicsTime + before_mpiTime + mpiTime + after_mpiTime - (before_worldUpdateBeginTime2 + worldUpdateBeginTime2 + modelUpdateFuncTime2 + updateCollisionTime2 + loggingTime2 + before_updatePhysicsTime2 + updatePhysicsTime2 + before_mpiTime2 + mpiTime2 + after_mpiTime2);
// std::cout << "===== average wholeAddTime:\t" << wholeAddTime * 1000.0 / (this->dataPtr->iterations - start_iterations) << "\tms =====\t" << this->gazeboLocalID << std::endl;
// } // }
} }
#endif #endif