framework: put perf conf into setup.bash && add compile opt for performance issue (#2315)

cyber/conf/cyber.pb.conf

@@ -31,8 +31,3 @@ scheduler_conf {
     routine_num: 100
     default_proc_num: 16
 }
-
-perf_conf {
-  enable: false
-  type: ALL
-}

cyber/event/BUILD

@@ -17,7 +17,6 @@ cc_library(
         "//cyber/common:global_data",
         "//cyber/common:log",
         "//cyber/common:macros",
-        "//cyber/proto:perf_conf_cc_proto",
         "//cyber/time:time",
     ]
 )

cyber/event/perf_event_cache.cc

@@ -18,7 +18,8 @@
 
 #include <string>
 
-#include "cyber/common/global_data.h"
+#include "cyber/base/macros.h"
+#include "cyber/common/environment.h"
 #include "cyber/common/log.h"
 #include "cyber/common/macros.h"
 #include "cyber/state.h"
@@ -28,18 +29,22 @@ namespace apollo {
 namespace cyber {
 namespace event {
 
-using common::GlobalData;
-using proto::PerfConf;
-using proto::PerfType;
+using common::GetEnv;
 
 PerfEventCache::PerfEventCache() {
-  auto& global_conf = GlobalData::Instance()->Config();
-  if (global_conf.has_perf_conf()) {
-    perf_conf_.CopyFrom(global_conf.perf_conf());
-    enable_ = perf_conf_.enable();
+  auto trans_perf = GetEnv("cyber_trans_perf");
+  if (trans_perf != "" &&
+      std::stoi(trans_perf)) {
+    enable_trans_perf_ = true;
+  }
+  auto sched_perf = GetEnv("cyber_sched_perf");
+  if (sched_perf != "" &&
+      std::stoi(sched_perf)) {
+    enable_sched_perf_ = true;
   }
 
-  if (enable_) {
+  if (enable_sched_perf_ ||
+      enable_trans_perf_) {
     if (!event_queue_.Init(kEventQueueSize)) {
       AERROR << "Event queue init failed.";
       throw std::runtime_error("Event queue init failed.");
@@ -49,11 +54,15 @@ PerfEventCache::PerfEventCache() {
 }
 
 PerfEventCache::~PerfEventCache() {
-  if (!enable_) {
+  if (!enable_sched_perf_ &&
+      !enable_trans_perf_) {
+    return;
+  }
+
+  if (shutdown_.exchange(true)) {
     return;
   }
 
-  shutdown_ = true;
   event_queue_.BreakAllWait();
   if (io_thread_.joinable()) {
     io_thread_.join();
@@ -67,12 +76,7 @@ PerfEventCache::~PerfEventCache() {
 void PerfEventCache::AddSchedEvent(const SchedPerf event_id,
                                    const uint64_t cr_id, const int proc_id,
                                    const int cr_state) {
-  if (!enable_) {
-    return;
-  }
-
-  if (perf_conf_.type() != PerfType::SCHED &&
-      perf_conf_.type() != PerfType::ALL) {
+  if (likely(!enable_sched_perf_)) {
     return;
   }
 
@@ -89,12 +93,7 @@ void PerfEventCache::AddSchedEvent(const SchedPerf event_id,
 void PerfEventCache::AddTransportEvent(const TransPerf event_id,
                                        const uint64_t channel_id,
                                        const uint64_t msg_seq) {
-  if (likely(!enable_)) {
-    return;
-  }
-
-  if (unlikely(perf_conf_.type() != PerfType::TRANSPORT &&
-      perf_conf_.type() != PerfType::ALL)) {
+  if (likely(!enable_trans_perf_)) {
     return;
   }
 

cyber/event/perf_event_cache.h

@@ -25,7 +25,6 @@
 #include "cyber/base/bounded_queue.h"
 #include "cyber/common/macros.h"
 #include "cyber/event/perf_event.h"
-#include "cyber/proto/perf_conf.pb.h"
 
 namespace apollo {
 namespace cyber {
@@ -48,10 +47,10 @@ class PerfEventCache {
   std::thread io_thread_;
   std::ofstream of_;
 
-  bool enable_ = false;
-  bool shutdown_ = false;
+  bool enable_trans_perf_ = false;
+  bool enable_sched_perf_ = false;
+  std::atomic<bool> shutdown_ = {false};
 
-  proto::PerfConf perf_conf_;
   base::BoundedQueue<EventBasePtr> event_queue_;
 
   const int kFlushSize = 512;

cyber/proto/BUILD

@@ -18,7 +18,6 @@ proto_library(
         ":choreography_conf_proto",
         ":scheduler_conf_proto",
         ":transport_conf_proto",
-        ":perf_conf_proto",
         ":run_mode_conf_proto",
         ":topology_conf_proto",
     ],
@@ -84,20 +83,6 @@ proto_library(
     ],
 )
 
-cc_proto_library(
-    name = "perf_conf_cc_proto",
-    deps = [
-        ":perf_conf_proto",
-    ],
-)
-
-proto_library(
-    name = "perf_conf_proto",
-    srcs = [
-        "perf_conf.proto",
-    ],
-)
-
 cc_proto_library(
     name = "run_mode_conf_cc_proto",
     deps = [

cyber/proto/cyber_conf.proto

@@ -4,14 +4,12 @@ package apollo.cyber.proto;
 
 import "cyber/proto/scheduler_conf.proto";
 import "cyber/proto/transport_conf.proto";
-import "cyber/proto/perf_conf.proto";
 import "cyber/proto/run_mode_conf.proto";
 import "cyber/proto/topology_conf.proto";
 
 message CyberConfig {
     optional SchedulerConf scheduler_conf = 1;
     optional TransportConf transport_conf = 2;
-    optional PerfConf perf_conf = 3;
-    optional RunModeConf run_mode_conf = 4;
-    optional TopologyConf topology_conf = 5;
+    optional RunModeConf run_mode_conf = 3;
+    optional TopologyConf topology_conf = 4;
 }

cyber/proto/perf_conf.proto

-syntax = "proto2";
-
-package apollo.cyber.proto;
-
-enum PerfType {
-  SCHED = 1;
-  TRANSPORT = 2;
-  DATA_CACHE = 3;
-  ALL = 4;
-}
-
-message PerfConf {
-  optional bool enable = 1 [default = false];
-  optional PerfType type = 2 [default = ALL];
-}
-

cyber/setup.bash

@@ -9,6 +9,7 @@ PYTHON_LD_PATH="/apollo/bazel-bin/cyber/py_wrapper"
 launch_path="${CYBER_PATH}/tools/cyber_launch"
 qt_path=/usr/local/Qt5.5.1/5.5/gcc_64
 
+
 export LD_LIBRARY_PATH=${qt_path}/lib:$LD_LIBRARY_PATH
 export QT_QPA_PLATFORM_PLUGIN_PATH=${qt_path}/plugins
 export PATH=${binary_path}:${recorder_path}:${monitor_path}:${launch_path}:${qt_path}/bin:${visualizer_path}:$PATH
@@ -22,6 +23,9 @@ export GLOG_alsologtostderr=0
 export GLOG_colorlogtostderr=1
 export GLOG_minloglevel=0
 
+export cyber_trans_perf=0
+export cyber_sched_perf=0
+
 # for DEBUG log
 #export GLOG_minloglevel=-1
 #export GLOG_v=4