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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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src/user/user_api.cc
+45 -1
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@@ -32,6 +32,7 @@
#include <mujoco/mujoco.h>
#include "engine/engine_support.h"
#include "engine/engine_util_errmem.h"
#include "user/user_cache.h"
#include "user/user_flexcomp.h"
#include "user/user_model.h"
@@ -204,10 +205,53 @@ int mj_encode(const mjSpec* s, const mjModel* m, const char* filename,
return nbytes;
}
// helper function to log compile time diagnostics
static void LogCompileTime(const double* t) {
std::string body(1024, '\0');
int n = std::snprintf(body.data(), body.size(),
" total: %8.1f (wall clock)\n"
" assets: %8.1f -\n"
" load: %8.1f (CPU time)\n"
" hull: %8.1f -\n"
" polygon: %8.1f -\n"
" inertia: %8.1f -\n"
" bvh: %8.1f -\n"
" octree: %8.1f -\n"
" texture: %8.1f -\n"
" other: %8.1f (wall clock)",
1e3 * t[mjCTIMER_TOTAL],
1e3 * t[mjCTIMER_ASSETS],
1e3 * t[mjCTIMER_MESH_LOAD],
1e3 * t[mjCTIMER_MESH_HULL],
1e3 * t[mjCTIMER_MESH_POLYGON],
1e3 * t[mjCTIMER_MESH_INERTIA],
1e3 * t[mjCTIMER_MESH_BVH],
1e3 * t[mjCTIMER_MESH_OCTREE],
1e3 * t[mjCTIMER_TEXTURE],
1e3 * (t[mjCTIMER_TOTAL] - t[mjCTIMER_ASSETS]));
if (n > 0 && n < body.size()) {
body.resize(n);
}
// send log message
mjLogMessage msg = {.level = mjLOG_INFO,
.topic = mjTOPIC_TIME_CMP,
.subject = "compile time (ms)",
.body = body.c_str()};
mju_message(&msg);
}
// compile model
mjModel* mj_compile(mjSpec* s, const mjVFS* vfs) {
mjCModel* modelC = static_cast<mjCModel*>(s->element);
return modelC->Compile(vfs);
mjModel* m = modelC->Compile(vfs);
// log compile time if model was compiled successfully
if (m) {
LogCompileTime(modelC->timer);
}
return m;
}