Scripts: add perf.sh to do performance profiling

.gitignore

@@ -74,3 +74,6 @@ docs/demo_guide/*.record
 tools/python_bin_path.sh
 .apollo.bazelrc
 .errors.log
+
+# Flamegraph files
+tools/FlameGraph

scripts/perf.sh

@@ -0,0 +1,174 @@
+#! /usr/bin/env bash
+
+###############################################################################
+# Copyright 2020 The Apollo Authors. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+###############################################################################
+
+# eg.
+#   perf.sh gen_data -m planning
+#   perf.sh gen_svg
+
+set -e
+
+TOP_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd -P)"
+source "${TOP_DIR}/scripts/apollo.bashrc"
+source "${TOP_DIR}/scripts/apollo_base.sh"
+
+OUTPUT_DIR="${TOP_DIR}/.cache/perf"
+
+PERF_DATA="perf.data"
+PERF_DATA_FULL_PATH="${OUTPUT_DIR}/${PERF_DATA}"
+PERF_UNFOLD="perf.unfold"
+PERF_FOLDED="perf.folded"
+PERF_SVG="perf.svg"
+PERF_CMD="perf"
+
+FLAME_GRAPH_DIR="${TOP_DIR}/tools/FlameGraph"
+FLAME_GRAPH_VERSION="1.0"
+
+function print_usage() {
+  info "Usage: $0 COMMAND [ARGS] "
+  info "COMMANDS:"
+  info "${TAB}help          # Show this message"
+  info "${TAB}gen_data      generate perf.data by running specified command or module"
+  info "${TAB}gen_svg       generate perf.svg from perf.data"
+  info "${TAB}clean         cleanup .cache/perf and tools/FlameGraph"
+}
+
+function _check_perf() {
+  if [ -z "$(which perf)" ]; then
+    error "Seems that perf has not been installed..."
+    error "You can install it manually by running:"
+    error "${TAB}sudo apt-get -y update"
+    error "${TAB}sudo apt-get -y install linux-tools-$(uname -r) linux-tools-common"
+    exit 1
+  fi
+}
+
+function _check_out_dir() {
+  if [ ! -d "${OUTPUT_DIR}" ]; then
+    mkdir -p "${OUTPUT_DIR}"
+  fi
+
+  if [ -f "${PERF_DATA_FULL_PATH}" ]; then
+    rm -f "${PERF_DATA_FULL_PATH}"
+  fi
+}
+
+# Note(All): if permission denied, run `echo 1 > /proc/sys/kernel/perf_event_paranoid` as root user out of docker
+function gen_perf_data() {
+  _check_perf
+  _check_out_dir
+
+  local cmd=$1
+  if [ "${cmd}" == "-m" ]; then
+    shift
+    local module=$1
+    if [ ! -z "${module}" ]; then
+      ${PERF_CMD} record -e cpu-clock -o "${PERF_DATA_FULL_PATH}" -g mainboard -d \
+        /apollo/modules/${module}/dag/${module}.dag \
+        --flagfile=/apollo/modules/${module}/conf/${module}.conf \
+        --log_dir=/apollo/data/log
+    else
+      error "Please specify which module to run."
+      exit 1
+    fi
+
+  else
+    ${PERF_CMD} record -e cpu-clock -o "${PERF_DATA_FULL_PATH}" -g "$@"
+  fi
+}
+
+function _check_flame_graph() {
+  if [ ! -d "${FLAME_GRAPH_DIR}" ]; then
+    local answer
+    typeset -l answer
+    echo -n "FlameGraph does not exist. Do you want to download it (Y/n)? "
+    answer=$(read_one_char_from_stdin)
+    echo
+    if [ "${answer}" == "y" ]; then
+      local download_link="https://github.com/brendangregg/FlameGraph/archive/v${FLAME_GRAPH_VERSION}.tar.gz"
+      local pkg_name="v${FLAME_GRAPH_VERSION}.tar.gz"
+      wget "${download_link}"
+      tar -xvf ${pkg_name}
+      mv -f "FlameGraph-${FLAME_GRAPH_VERSION}" "${FLAME_GRAPH_DIR}"
+      rm -f ${pkg_name}
+    else
+      exit 1
+    fi
+  fi
+}
+
+function gen_perf_svg() {
+  cd "${OUTPUT_DIR}"
+  if [ ! -f "${PERF_DATA}" ]; then
+    error "There is no perf.data under ${OUTPUT_DIR}"
+    exit 1
+  else
+    _check_flame_graph
+    ${PERF_CMD} script -i "${PERF_DATA}" > "${PERF_UNFOLD}"
+    ${FLAME_GRAPH_DIR}/stackcollapse-perf.pl ${PERF_UNFOLD} > ${PERF_FOLDED}
+    ${FLAME_GRAPH_DIR}/flamegraph.pl ${PERF_FOLDED} > ${PERF_SVG}
+  fi
+
+  success "perf.svg generated under ${OUTPUT_DIR}"
+}
+
+function _clean_up() {
+  for folder in "$@"; do
+    if [ -d "${folder}" ]; then
+      rm -rf "${folder}"
+      success "Done cleanup ${folder}"
+    else
+      success "Nothing to do for empty directory '${folder}'."
+    fi
+  done
+}
+
+function clean_all() {
+  _clean_up "${OUTPUT_DIR}" "${FLAME_GRAPH_DIR}"
+}
+
+function main() {
+  if [ "$#" -eq 0 ]; then
+    print_usage
+    exit 1
+  fi
+
+  local opt="$1"
+  shift
+  case "${opt}" in
+  help)
+    print_usage
+    exit 1
+    ;;
+  gen_data)
+    gen_perf_data "$@"
+    ;;
+  gen_svg)
+    gen_perf_svg
+    ;;
+  clean)
+    clean_all
+    ;;
+  *)
+    echo "Unknown command: ${opt}"
+    print_usage
+    exit 1
+    ;;
+  esac
+}
+
+main "$@"