Automatic Profiling

[wilsonwatson]

Profiling inserted at compile-time to all classes (in package frc) with exception for Main, Robot, and RobotContainer (these have manual implementations). All methods (except autogenerated methods like values, or valueOf; and constructors) are modified with the following:

• Robot.profiler.push("<class name>:<method name>") at the top of the method
• Robot.profiler.pop() prior to every return.

Not sure if this works with exceptions. We'll need to investigate. Otherwise, this works as-is.

Future work would include modifying CommandScheduler to add profiling calls there too.

Profiles are captured for every second. We'll need to tune this if on-robot performance gets too bad.

[legoguy1000]

gave it a quick look, i'm not familiar with the logic on how to insert the methods on build but i'm good with it and testing. for performance, do we want to disable the features when at competition?? maybe disable when FMS is conencted? that way we can still do it in testing but not affect on field performance?

[wilsonwatson]

Agreed, that's what EmptyProfiler is for. For now you just have to change Robot.profiler to equal EmptyProfiler.INSTANCE. I don't yet have a strategy for automatically deciding whether or not to profile. The data is useful, but I wouldn't consider it "match data", so it'd be fine to skip during competitions. Ideally we don't disable it unless we have to.

[legoguy1000]

sounds good. I say we test it thursday and if it works, lets merge 🤷‍♂️.