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Introduce new logging API, fixes #858

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PiperOrigin-RevId: 930744288
Change-Id: I6ec1203b55c031390f3eef23192e2337508ce886
This commit is contained in:
Yuval Tassa
2026-06-11 14:36:17 -07:00
committed by Copybara-Service
parent a2abaf7aef
commit 58f6d52491
45 changed files with 2586 additions and 422 deletions
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sample/compile.cc
+12 -22
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@@ -137,22 +137,13 @@ int main(int argc, char** argv) {
}
}
// print compiler timing diagnostics
auto print_timers = [](const mjSpec* s, const char* label) {
const double* timer = mjs_getTimer(const_cast<mjSpec*>(s));
std::printf("\n%s:\n", label);
std::printf(" total: %8.1f ms\n", 1e3 * timer[mjCTIMER_TOTAL]);
std::printf(" assets: %8.1f ms (wall clock)\n", 1e3 * timer[mjCTIMER_ASSETS]);
std::printf(" load: %8.1f ms\n", 1e3 * timer[mjCTIMER_MESH_LOAD]);
std::printf(" hull: %8.1f ms\n", 1e3 * timer[mjCTIMER_MESH_HULL]);
std::printf(" poly: %8.1f ms\n", 1e3 * timer[mjCTIMER_MESH_POLYGON]);
std::printf(" inert: %8.1f ms\n", 1e3 * timer[mjCTIMER_MESH_INERTIA]);
std::printf(" bvh: %8.1f ms\n", 1e3 * timer[mjCTIMER_MESH_BVH]);
std::printf(" octr: %8.1f ms\n", 1e3 * timer[mjCTIMER_MESH_OCTREE]);
std::printf(" tex: %8.1f ms\n", 1e3 * timer[mjCTIMER_TEXTURE]);
std::printf(" other: %8.1f ms\n",
1e3 * (timer[mjCTIMER_TOTAL] - timer[mjCTIMER_ASSETS]));
};
// enable compile timing diagnostics
if (type2 == typeNONE) {
mjLogConfig config = mju_getLogConfig();
config.logfile[0] = '\0';
config.topics |= (1 << (mjTOPIC_TIME_CMP - 1));
mju_setLogConfig(config);
}
// load model
mjSpec* s = nullptr;
@@ -162,20 +153,19 @@ int main(int argc, char** argv) {
return finish(error, EXIT_FAILURE);
}
if (type2 == typeNONE) {
std::cout << "Compile 1 (cold cache)\n";
}
m = mj_compile(s, 0);
if (!m) {
mj_deleteSpec(s);
return finish("Could not compile model", EXIT_FAILURE);
}
print_timers(s, "Compile 1 (cold cache)");
if (type2 == typeNONE) {
mj_deleteModel(m);
std::cout << "Compile 2 (warm cache)\n";
m = mj_compile(s, 0);
if (m) {
print_timers(s, "Compile 2 (warm cache)");
}
}
} else {
m = mj_loadModel(argv[1], 0);
@@ -201,5 +191,5 @@ int main(int argc, char** argv) {
// finalize
if (s) mj_deleteSpec(s);
return finish("\nDone.", EXIT_SUCCESS, m);
return finish("Done.", EXIT_SUCCESS, m);
}