tracing: add initial support for perfetto/tracy

Author: JuanCarlosgg

.gitignore

@@ -10,4 +10,5 @@ experiment/
 **/_pychache__
 .artifacts/
 .vscode/*
-.claude/*
+.claude/*
+build-*

CMakeLists.txt

@@ -5,6 +5,8 @@ project(dsr
         LANGUAGES CXX)
 
 include(GNUInstallDirs)
+include(FetchContent)
+find_package(Threads REQUIRED)
 
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
@@ -21,6 +23,8 @@ if (TSAN)
     add_link_options(-fsanitize=thread)
 endif()
 
+include(cmake/profiling.cmake)
+
 add_definitions(-I/usr/include/x86_64-linux-gnu/qt6/QtOpenGLWidgets/)
 
 include_directories(/home/robocomp/robocomp/classes)

PROFILING.md

@@ -0,0 +1,101 @@
+# Profiling Backends
+
+The repository supports multiple profiling backends through CMake.
+
+## Backend Selection
+
+Use:
+
+```bash
+-DCORTEX_PROFILING_BACKEND=NONE
+-DCORTEX_PROFILING_BACKEND=TRACY
+-DCORTEX_PROFILING_BACKEND=PERFETTO
+```
+
+### `NONE`
+
+No profiling backend is enabled.
+
+### `TRACY`
+
+Uses the interactive Tracy client/profiler flow.
+
+If `CORTEX_ENABLE_TRACY` is not explicitly configured, the build falls back to the `DEFAULT` Tracy preset.
+
+What you need:
+
+- an instrumented build with `-DCORTEX_PROFILING_BACKEND=TRACY`
+- the Tracy Profiler GUI
+- a live connection between the running process and the profiler
+
+Important:
+
+- Tracy is mainly an interactive workflow
+- traces are not written automatically to disk by the client
+- if you want a saved trace, connect with the profiler and save the session from the UI
+
+Typical usage:
+
+```bash
+cmake -S . -B build \
+  -DWITH_TESTS=ON \
+  -DCORTEX_PROFILING_BACKEND=TRACY \
+  -DCORTEX_ENABLE_TRACY=DEFAULT
+cmake --build build --target tests
+./build/tests/tests "[SYNCHRONIZATION][GRAPH]"
+```
+
+Tracy options are OFF, ON, DEFAULT, MEDIUM, EXTRA, WSL, WSL_EXTRA
+
+### `PERFETTO`
+
+Uses Perfetto's in-process backend and writes an offline trace file automatically at process exit.
+
+What you need:
+
+- an instrumented build with `-DCORTEX_PROFILING_BACKEND=PERFETTO`
+- a generated `.pftrace` file
+- either the web UI at `https://ui.perfetto.dev/` or another Perfetto-compatible viewer
+
+Typical usage:
+
+```bash
+cmake -S . -B build-perfetto \
+  -DWITH_TESTS=ON \
+  -DCORTEX_PROFILING_BACKEND=PERFETTO
+cmake --build build-perfetto --target tests
+export CORTEX_PERFETTO_TRACE_FILE=.artifacts/output.pftrace
+./build-perfetto/tests/tests "[SYNCHRONIZATION][GRAPH]"
+```
+
+The trace file path can be overridden with:
+
+```bash
+export CORTEX_PERFETTO_TRACE_FILE=/path/to/output.pftrace
+```
+
+If not set, the default output path is:
+
+```text
+.artifacts/perfetto/<executable>-<pid>-<timestamp>.pftrace
+```
+
+relative to the process working directory.
+
+The generated trace file can be opened with:
+
+- https://ui.perfetto.dev/
+- the standalone Perfetto UI / trace processor tools
+
+Recommended flow on this repository:
+
+1. Run the instrumented binary or test.
+2. Wait for the process to exit cleanly.
+3. Open `https://ui.perfetto.dev/`.
+4. Use `Open trace file` and load the `.pftrace`.
+
+Notes:
+
+- Perfetto is the better fit for offline captures that you want to inspect later.
+- The trace is flushed on shutdown, so if the process is killed hard you may lose the file.
+- The current instrumentation covers graph, RT, CRDT, bootstrap, and synchronization paths.

api/CMakeLists.txt

@@ -72,6 +72,8 @@ target_link_libraries(dsr_api
         ${QT_GEOM}
         )
 
+target_link_libraries(dsr_api PRIVATE cortex_profiling)
+
 target_include_directories(dsr_api
         PUBLIC
         # Headers of DSR Core