trajectory_optimization::PerformanceLogger Class Reference

#include <performance_logger.hpp>

Public Member Functions
	PerformanceLogger (const std::string &node_name)
	Creates a CSV performance log for the given node.
	~PerformanceLogger ()
	Flushes and closes the performance log.
	PerformanceLogger (const PerformanceLogger &)=delete
	Copy construction is disabled because the logger owns a file stream.
PerformanceLogger &	operator= (const PerformanceLogger &)=delete
	Copy assignment is disabled because the logger owns a file stream.
	PerformanceLogger (PerformanceLogger &&)=delete
	Move construction is disabled to keep the log stream bound to one logger.
PerformanceLogger &	operator= (PerformanceLogger &&)=delete
	Move assignment is disabled to keep the log stream bound to one logger.
void	write (const PerformanceMetrics &metrics)
	Appends one set of performance metrics to the CSV log.
const std::filesystem::path &	path () const
	Returns the path of the CSV performance log.

Static Public Member Functions
static void	collectSolverStatistics (PerformanceMetrics &metrics, ocp_nlp_solver *solver, ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *input, ocp_nlp_out *output)
	Reads timing, iteration, cost, and residual statistics from acados.

Private Attributes
std::filesystem::path	path_
std::ofstream	stream_
uint64_t	records_since_flush_ = 0

Static Private Attributes
static constexpr uint64_t	FLUSH_INTERVAL = 100

Detailed Description

Definition at line 52 of file performance_logger.hpp.

Constructor & Destructor Documentation

PerformanceLogger() [1/3]

trajectory_optimization::PerformanceLogger::PerformanceLogger ( const std::string & node_name )

explicit

Creates a CSV performance log for the given node.

Parameters

[in]

node_name

Node name used as part of the log file name.

Definition at line 36 of file performance_logger.cpp.

                                                               {
  const char* configured_directory = std::getenv("TRAJECTORY_OPTIMIZATION_BENCHMARK_DIR");
  const std::filesystem::path directory = configured_directory != nullptr && *configured_directory != '\0'
                                              ? std::filesystem::path(configured_directory)
                                              : std::filesystem::temp_directory_path() / "trajectory_optimization_benchmarks";
  path_ = directory / (node_name + '_' + timestamp() + ".csv");
 
  std::error_code error;
  std::filesystem::create_directories(directory, error);
  if (error) {
    throw std::runtime_error("could not create directory '" + directory.string() + "': " + error.message());
  }
 
  stream_.open(path_, std::ios::out | std::ios::trunc);
  if (!stream_) {
    throw std::runtime_error("could not open '" + path_.string() + "'");
  }
  stream_ << "schema_version,source,run_id,cycle,record_stamp_ns,ego_stamp_ns,reference_stamp_ns,route_stamp_ns,status,"
             "published,ref_points,objects,sqp_iter,qp_iter,"
             "qp_status,cycle_ms,preprocessing_ms,solve_wall_ms,postprocessing_ms,acados_total_ms,acados_lin_ms,"
             "acados_sim_ms,acados_qp_ms,"
             "acados_qp_solver_ms,acados_qp_xcond_ms,acados_reg_ms,acados_glob_ms,acados_preparation_ms,"
             "acados_feedback_ms,cost,kkt,nlp_res,res_stat,res_eq,res_ineq,res_comp\n";
  stream_.flush();
}

~PerformanceLogger()

trajectory_optimization::PerformanceLogger::~PerformanceLogger

(

)

Flushes and closes the performance log.

Definition at line 62 of file performance_logger.cpp.

                                      {
  stream_.flush();
  stream_.close();
}

PerformanceLogger() [2/3]

trajectory_optimization::PerformanceLogger::PerformanceLogger ( const PerformanceLogger & )

delete

Copy construction is disabled because the logger owns a file stream.

PerformanceLogger() [3/3]

trajectory_optimization::PerformanceLogger::PerformanceLogger ( PerformanceLogger && )

delete

Move construction is disabled to keep the log stream bound to one logger.

Member Function Documentation

collectSolverStatistics()

void trajectory_optimization::PerformanceLogger::collectSolverStatistics ( PerformanceMetrics & metrics, ocp_nlp_solver * solver, ocp_nlp_config * config, ocp_nlp_dims * dims, ocp_nlp_in * input, ocp_nlp_out * output )

static

Reads timing, iteration, cost, and residual statistics from acados.

Parameters

[out]	metrics	Metrics structure populated with the solver statistics.
[in]	solver	acados NLP solver instance.
[in]	config	acados NLP configuration.
[in]	dims	acados NLP dimensions.
[in]	input	acados NLP input.
[in]	output	acados NLP output.

Definition at line 67 of file performance_logger.cpp.

                                                                     {
  auto readTime = [&](const char* field, double& destination_ms) {
    double time_seconds = 0.0;
    ocp_nlp_get(solver, field, &time_seconds);
    destination_ms = time_seconds * 1000.0;
  };
 
  readTime("time_tot", metrics.acados_total_ms);
  readTime("time_lin", metrics.acados_lin_ms);
  readTime("time_sim", metrics.acados_sim_ms);
  readTime("time_qp", metrics.acados_qp_ms);
  readTime("time_qp_solver_call", metrics.acados_qp_solver_ms);
  readTime("time_qp_xcond", metrics.acados_qp_xcond_ms);
  readTime("time_reg", metrics.acados_reg_ms);
  readTime("time_glob", metrics.acados_glob_ms);
  readTime("time_preparation", metrics.acados_preparation_ms);
  readTime("time_feedback", metrics.acados_feedback_ms);
  ocp_nlp_get(solver, "sqp_iter", &metrics.sqp_iter);
  ocp_nlp_get(solver, "qp_iter", &metrics.qp_iter);
  ocp_nlp_get(solver, "qp_status", &metrics.qp_status);
  ocp_nlp_out_get(config, dims, output, 0, "kkt_norm_inf", &metrics.kkt_norm_inf);
 
  ocp_nlp_eval_cost(solver, input, output);
  ocp_nlp_eval_residuals(solver, input, output);
  ocp_nlp_get(solver, "cost_value", &metrics.cost_value);
  ocp_nlp_get(solver, "res_stat", &metrics.res_stat);
  ocp_nlp_get(solver, "res_eq", &metrics.res_eq);
  ocp_nlp_get(solver, "res_ineq", &metrics.res_ineq);
  ocp_nlp_get(solver, "res_comp", &metrics.res_comp);
  metrics.nlp_res = std::max({metrics.res_stat, metrics.res_eq, metrics.res_ineq, metrics.res_comp});
}

operator=() [1/2]

PerformanceLogger & trajectory_optimization::PerformanceLogger::operator= ( const PerformanceLogger & )

delete

Copy assignment is disabled because the logger owns a file stream.

Returns

Reference to this logger. The operator is deleted.

operator=() [2/2]

PerformanceLogger & trajectory_optimization::PerformanceLogger::operator= ( PerformanceLogger && )

delete

Move assignment is disabled to keep the log stream bound to one logger.

Returns

Reference to this logger. The operator is deleted.

path()

const std::filesystem::path & trajectory_optimization::PerformanceLogger::path ( ) const

inline

Returns the path of the CSV performance log.

Returns

Path of the active performance log file.

Definition at line 119 of file performance_logger.hpp.

{ return path_; }

write()

void trajectory_optimization::PerformanceLogger::write

(

const PerformanceMetrics &

metrics

)

Appends one set of performance metrics to the CSV log.

Parameters

[in]

metrics

Metrics collected for one optimization cycle.

Definition at line 104 of file performance_logger.cpp.

                                                               {
  stream_ << std::setprecision(17) << 4 << ",runtime,," << metrics.cycle << ',' << nowNanoseconds() << ',' << metrics.ego_stamp_ns
          << ',' << metrics.reference_stamp_ns << ',' << metrics.route_stamp_ns << ',' << metrics.status << ','
          << (metrics.published ? 1 : 0) << ',' << metrics.reference_points << ',' << metrics.objects << ',' << metrics.sqp_iter
          << ',' << metrics.qp_iter << ',' << metrics.qp_status << ',' << metrics.cycle_ms << ',' << metrics.preprocessing_ms
          << ',' << metrics.solve_wall_ms << ',' << metrics.postprocessing_ms << ',' << metrics.acados_total_ms << ','
          << metrics.acados_lin_ms << ',' << metrics.acados_sim_ms << ',' << metrics.acados_qp_ms << ','
          << metrics.acados_qp_solver_ms << ',' << metrics.acados_qp_xcond_ms << ',' << metrics.acados_reg_ms << ','
          << metrics.acados_glob_ms << ',' << metrics.acados_preparation_ms << ',' << metrics.acados_feedback_ms << ','
          << metrics.cost_value << ',' << metrics.kkt_norm_inf << ',' << metrics.nlp_res << ',' << metrics.res_stat << ','
          << metrics.res_eq << ',' << metrics.res_ineq << ',' << metrics.res_comp << '\n';
 
  if (++records_since_flush_ >= FLUSH_INTERVAL) {
    stream_.flush();
    records_since_flush_ = 0;
  }
}

Member Data Documentation

FLUSH_INTERVAL

uint64_t trajectory_optimization::PerformanceLogger::FLUSH_INTERVAL = 100

staticconstexprprivate

Definition at line 122 of file performance_logger.hpp.

path_

std::filesystem::path trajectory_optimization::PerformanceLogger::path_

private

Definition at line 124 of file performance_logger.hpp.

records_since_flush_

uint64_t trajectory_optimization::PerformanceLogger::records_since_flush_ = 0

private

Definition at line 126 of file performance_logger.hpp.

stream_

std::ofstream trajectory_optimization::PerformanceLogger::stream_

private

Definition at line 125 of file performance_logger.hpp.

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The documentation for this class was generated from the following files:

• trajectory_optimization/include/trajectory_optimization/performance_logger.hpp
• trajectory_optimization/src/performance_logger.cpp