build: added `bash apollo.sh build_prof` option to support profiling (#600)

* start app (e.g., planning) with profiling by `bash scripts/planning.sh start_prof`

apollo.sh

@@ -519,6 +519,7 @@ function print_usage() {
   ${BLUE}build_opt_gpu${NONE}: build optimized binary with Caffe GPU mode support
   ${BLUE}build_fe${NONE}: compile frontend javascript code, this requires all the node_modules to be installed already
   ${BLUE}build_no_perception${NONE}: run build build skip building perception module, useful when some perception dependencies are not satisified, e.g., CUDA, CUDNN, LIDAR, etc.
+  ${BLUE}build_prof${NONE}: build for gprof support.
   ${BLUE}buildify${NONE}: fix style of BUILD files
   ${BLUE}check${NONE}: run build/lint/test, please make sure it passes before checking in new code
   ${BLUE}clean${NONE}: run Bazel clean
@@ -553,6 +554,10 @@ function main() {
       DEFINES="${DEFINES} --cxxopt=-DCPU_ONLY"
       apollo_build_dbg $@
       ;;
+    build_prof)
+      DEFINES="${DEFINES} --cxxopt=-DCPU_ONLY  --copt='-pg' --cxxopt='-pg' --linkopt='-pg'"
+      apollo_build_dbg $@
+      ;;
     build_no_perception)
       DEFINES="${DEFINES} --cxxopt=-DCPU_ONLY"
       NOT_BUILD_PERCEPTION=true

docker/dev.x86_64.dockerfile

@@ -26,6 +26,7 @@ RUN apt-get update && apt-get install -y \
    software-properties-common \
    unzip \
    vim \
+   google-perftools \
    wget \
    zip
 

modules/planning/planning.cc

@@ -277,6 +277,7 @@ void Planning::RunOnce() {
 }
 
 void Planning::Stop() {
+  AERROR << "Planning Stop is called";
   last_publishable_trajectory_.reset(nullptr);
   frame_.reset(nullptr);
   planner_.reset(nullptr);

scripts/apollo_base.sh

@@ -227,6 +227,36 @@ function start() {
     fi
 }
 
+function start_prof() {
+    MODULE=$1
+    shift
+
+    echo "Make sure you have built with 'bash apollo.sh build_prof'"
+    LOG="${APOLLO_ROOT_DIR}/data/log/${MODULE}.out"
+    is_stopped "${MODULE}"
+    if [ $? -eq 1 ]; then
+        PROF_FILE="/tmp/$MODULE.prof"
+        rm -rf $PROF_FILE
+        BINARY=${APOLLO_BIN_PREFIX}/modules/${MODULE}/${MODULE}
+        eval "CPUPROFILE=$PROF_FILE $BINARY \
+            --flagfile=modules/${MODULE}/conf/${MODULE}.conf \
+            --log_dir=${APOLLO_ROOT_DIR}/data/log $@ </dev/null >${LOG} 2>&1 &"
+        sleep 0.5
+        is_stopped "${MODULE}"
+        if [ $? -eq 0 ]; then
+            echo -e "Launched module ${MODULE} in prof mode. \nExport profile by command:"
+            echo -e "${YELLOW}google-pprof --pdf $BINARY $PROF_FILE > ${MODULE}_prof.pdf${NO_COLOR}"
+            return 0
+        else
+            echo "Could not launch module ${MODULE}. Is it already built?"
+            return 1
+        fi
+    else
+        echo "Module ${MODULE} is already running - skipping."
+        return 2
+    fi
+}
+
 function start_fe() {
     MODULE=$1
     shift
@@ -269,6 +299,9 @@ function run() {
         start_fe)
             start_fe $module "$@"
             ;;
+        start_prof)
+            start_prof $module "$@"
+            ;;
         stop)
             stop $module
             ;;