From 746d9fda8d3462a93dfbf2f1960ef2647a15196e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 29 Nov 2021 17:18:13 +1100
Subject: [PATCH] autotest: add --callgrind option

---
 Tools/autotest/autotest.py   |  7 +++++++
 Tools/autotest/common.py     | 13 ++++++++-----
 Tools/autotest/pysim/util.py |  5 ++++-
 3 files changed, 19 insertions(+), 6 deletions(-)

diff --git a/Tools/autotest/autotest.py b/Tools/autotest/autotest.py
index af1b77a012..5d362c41ec 100755
--- a/Tools/autotest/autotest.py
+++ b/Tools/autotest/autotest.py
@@ -510,6 +510,7 @@ def run_step(step):
         "viewerip": opts.viewerip,
         "use_map": opts.map,
         "valgrind": opts.valgrind,
+        "callgrind": opts.callgrind,
         "gdb": opts.gdb,
         "gdb_no_tui": opts.gdb_no_tui,
         "lldb": opts.lldb,
@@ -962,6 +963,10 @@ if __name__ == "__main__":
                          default=False,
                          action='store_true',
                          help='run ArduPilot binaries under valgrind')
+    group_sim.add_option("", "--callgrind",
+                         action='store_true',
+                         default=False,
+                         help="enable valgrind for performance analysis (slow!!)")
     group_sim.add_option("--gdb",
                          default=False,
                          action='store_true',
@@ -1032,6 +1037,8 @@ if __name__ == "__main__":
         # adjust if we're running in a regime which may slow us down e.g. Valgrind
         if opts.valgrind:
             opts.timeout *= 10
+        elif opts.callgrind:
+            opts.timeout *= 10
         elif opts.gdb:
             opts.timeout = None
 
diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index 339850e49e..4d40e2752c 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -1445,6 +1445,7 @@ class AutoTest(ABC):
     def __init__(self,
                  binary,
                  valgrind=False,
+                 callgrind=False,
                  gdb=False,
                  gdb_no_tui=False,
                  speedup=None,
@@ -1473,6 +1474,7 @@ class AutoTest(ABC):
 
         self.binary = binary
         self.valgrind = valgrind
+        self.callgrind = callgrind
         self.gdb = gdb
         self.gdb_no_tui = gdb_no_tui
         self.lldb = lldb
@@ -1842,7 +1844,7 @@ class AutoTest(ABC):
         old_bootcount = self.get_parameter('STAT_BOOTCNT')
         # ardupilot SITL may actually NAK the reboot; replace with
         # run_cmd when we don't do that.
-        if self.valgrind:
+        if self.valgrind or self.callgrind:
             self.reboot_check_valgrind_log()
             self.progress("Stopping and restarting SITL")
             if getattr(self, 'valgrind_restart_customisations', None) is not None:
@@ -2426,7 +2428,7 @@ class AutoTest(ABC):
 
         # stash our arguments in case we need to preserve them in
         # reboot_sitl with Valgrind active:
-        if self.valgrind:
+        if self.valgrind or self.callgrind:
             self.valgrind_restart_model = model
             self.valgrind_restart_defaults_filepath = defaults_filepath
             self.valgrind_restart_customisations = customisations
@@ -6541,7 +6543,7 @@ Also, ignores heartbeats not from our target system'''
         # determine a good pexpect timeout for reading MAVProxy's
         # output; some regmes may require longer timeouts.
         pexpect_timeout = 60
-        if self.valgrind:
+        if self.valgrind or self.callgrind:
             pexpect_timeout *= 10
 
         mavproxy = util.start_MAVProxy_SITL(
@@ -6578,6 +6580,7 @@ Also, ignores heartbeats not from our target system'''
             "home": self.sitl_home(),
             "speedup": self.speedup,
             "valgrind": self.valgrind,
+            "callgrind": self.callgrind,
             "wipe": True,
         }
         start_sitl_args.update(**sitl_args)
@@ -7712,7 +7715,7 @@ Also, ignores heartbeats not from our target system'''
                     rate = float(mavproxy.match.group(1))
                     self.progress("Rate: %f" % rate)
                     desired_rate = 50
-                    if self.valgrind:
+                    if self.valgrind or self.callgrind:
                         desired_rate /= 10
                     if rate < desired_rate:
                         raise NotAchievedException("Exceptionally low transfer rate (%u < %u)" % (rate, desired_rate))
@@ -10469,7 +10472,7 @@ switch value'''
             self.drain_mav(quiet=True)
             tnow = self.get_sim_time_cached()
             timeout = 30
-            if self.valgrind:
+            if self.valgrind or self.callgrind:
                 timeout *= 10
             if tnow - tstart > timeout:
                 raise NotAchievedException("Did not get parameter via mavlite")
diff --git a/Tools/autotest/pysim/util.py b/Tools/autotest/pysim/util.py
index 990427d9e4..097a183aa0 100644
--- a/Tools/autotest/pysim/util.py
+++ b/Tools/autotest/pysim/util.py
@@ -296,6 +296,7 @@ def kill_mac_terminal():
 
 def start_SITL(binary,
                valgrind=False,
+               callgrind=False,
                gdb=False,
                gdb_no_tui=False,
                wipe=False,
@@ -317,7 +318,7 @@ def start_SITL(binary,
 
     """Launch a SITL instance."""
     cmd = []
-    if valgrind and os.path.exists('/usr/bin/valgrind'):
+    if (callgrind or valgrind) and os.path.exists('/usr/bin/valgrind'):
         # we specify a prefix for vgdb-pipe because on Vagrant virtual
         # machines the pipes are created on the mountpoint for the
         # shared directory with the host machine.  mmap's,
@@ -332,6 +333,8 @@ def start_SITL(binary,
             '--vgdb-prefix=%s' % vgdb_prefix,
             '-q',
             '--log-file=%s' % log_file])
+        if callgrind:
+            cmd.extend(["--tool=callgrind"])
     if gdbserver:
         cmd.extend(['gdbserver', 'localhost:3333'])
         if gdb: