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Merged
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Nov 7, 2025
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feat: device logging #1179

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4 changes: 4 additions & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -52,6 +52,10 @@ include( traccc-functions )
set( TRACCC_CUSTOM_SCALARTYPE "float" CACHE STRING
"Scalar type to use in the TRACCC code" )

# Temporary setting for the traccc device log level, until it can be removed.
set( TRACCC_DEVICE_LOG_LVL "NONE" CACHE STRING
"Log level for traccc and detray device code" )

# Flags controlling which parts of traccc to build.
option( TRACCC_BUILD_CUDA "Build the CUDA sources included in traccc" FALSE )
option( TRACCC_BUILD_HIP "Build the HIP sources included in traccc" FALSE)
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6 changes: 6 additions & 0 deletions core/include/traccc/finding/actors/ckf_aborter.hpp
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Expand Up @@ -10,6 +10,7 @@
// Project include(s)
#include "traccc/definitions/primitives.hpp"
#include "traccc/definitions/qualifiers.hpp"
#include "traccc/utils/logging.hpp"

// detray include(s)
#include <detray/propagator/base_actor.hpp>
Expand Down Expand Up @@ -43,13 +44,18 @@ struct ckf_aborter : detray::actor {
abrt_state.count++;
abrt_state.path_from_surface += stepping.step_size();

TRACCC_VERBOSE_HOST_DEVICE("Checking CKF aborter");

// Stop at the next sensitive surface
if (navigation.is_on_sensitive() &&
abrt_state.path_from_surface > abrt_state.min_step_length) {
prop_state._heartbeat &= navigation.pause();
abrt_state.success = true;
}

TRACCC_VERBOSE_HOST_DEVICE("-> Found sensitive surface: %d",
navigation.barcode().index());

// Reset path from surface
if (navigation.is_on_sensitive()) {
abrt_state.path_from_surface = 0.f;
Expand Down
76 changes: 55 additions & 21 deletions core/include/traccc/finding/details/combinatorial_kalman_filter.hpp
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Expand Up @@ -63,7 +63,7 @@ combinatorial_kalman_filter(
const measurement_collection_types::const_view& measurements_view,
const bound_track_parameters_collection_types::const_view& seeds_view,
const finding_config& config, vecmem::memory_resource& mr,
const Logger& log) {
const Logger& /*log*/) {

assert(config.min_step_length_for_next_surface >
math::fabs(config.propagation.navigation.overstep_tolerance) &&
Expand All @@ -77,7 +77,8 @@ combinatorial_kalman_filter(
using scalar_type = detray::dscalar<algebra_type>;

// Create a logger.
auto logger = [&log]() -> const Logger& { return log; };
// @TODO: Turn back on, once detray can use the ACTS logger
// auto logger = [&log]() -> const Logger& { return log; };

/*****************************************************************
* Measurement Operations
Expand Down Expand Up @@ -144,12 +145,13 @@ combinatorial_kalman_filter(
for (unsigned int step = 0u; step < config.max_track_candidates_per_track;
step++) {

TRACCC_VERBOSE("Starting step "
<< step + 1 << " / "
<< config.max_track_candidates_per_track);
TRACCC_VERBOSE_HOST("Starting step "
<< step + 1 << " / "
<< config.max_track_candidates_per_track);

// Iterate over input parameters
const std::size_t n_in_params = in_params.size();
TRACCC_VERBOSE_HOST("No. Params: " << n_in_params);

// Terminate if there is no parameter to proceed
if (n_in_params == 0) {
Expand Down Expand Up @@ -199,10 +201,13 @@ combinatorial_kalman_filter(
: links[step - 1][param_to_link[step - 1][in_param_id]]
.ndf_sum);

TRACCC_VERBOSE("Processing input parameter "
<< in_param_id + 1 << " / " << n_in_params << ": "
<< in_param << " (orig_param_id=" << orig_param_id
<< ", skip_counter=" << skip_counter << ")");
TRACCC_VERBOSE_HOST("Processing input parameter "
<< in_param_id + 1 << " / " << n_in_params);
TRACCC_VERBOSE_HOST("-> orig_param_id="
<< orig_param_id << ", skip_counter="
<< skip_counter << "\nVec:\n"
<< in_param.vector());
TRACCC_DEBUG_HOST("Cov:\n" << in_param.covariance());

/*************************
* Material interaction
Expand All @@ -211,8 +216,8 @@ combinatorial_kalman_filter(
// Get surface corresponding to bound params
const detray::tracking_surface sf{det, in_param.surface_link()};

TRACCC_VERBOSE(
" free params: " << sf.bound_to_free_vector({}, in_param));
TRACCC_VERBOSE_HOST(" Free params:\n"
<< sf.bound_to_free_vector({}, in_param));

// Apply interactor
if (sf.has_material()) {
Expand Down Expand Up @@ -241,7 +246,10 @@ combinatorial_kalman_filter(
best_links;

// Iterate over the measurements
TRACCC_VERBOSE_HOST("No. measurements: " << (up - lo));
for (unsigned int meas_id = lo; meas_id < up; meas_id++) {
TRACCC_VERBOSE_HOST("Testing measurement: " << meas_id);

// The measurement on surface to handle.
const measurement& meas = measurements.at(meas_id);

Expand All @@ -258,9 +266,13 @@ combinatorial_kalman_filter(

const traccc::scalar chi2 = trk_state.filtered_chi2();

TRACCC_DEBUG_HOST("KF status: " << fitter_debug_msg{res}());

// The chi2 from Kalman update should be less than chi2_max
if (res == kalman_fitter_status::SUCCESS &&
chi2 < config.chi2_max) {
(chi2 < config.chi2_max)) {

TRACCC_VERBOSE_HOST("Found measurement: " << meas_id);

best_links.push_back(
{{.step = step,
Expand All @@ -285,9 +297,9 @@ combinatorial_kalman_filter(
const unsigned int n_branches =
std::min(config.max_num_branches_per_surface,
static_cast<unsigned int>(best_links.size()));
TRACCC_VERBOSE("Found " << n_branches << " branches for step "
<< step << " and input parameter "
<< in_param_id);
TRACCC_VERBOSE_HOST("Found " << n_branches << " branches for step "
<< step << " and input parameter "
<< in_param_id + 1);
for (unsigned int i = 0; i < n_branches; ++i) {
const auto& [link, filtered_params] = best_links[i];

Expand All @@ -296,9 +308,9 @@ combinatorial_kalman_filter(

// Add the updated parameter to the updated parameters
updated_params.push_back(filtered_params);
TRACCC_VERBOSE("updated_params["
<< updated_params.size() - 1
<< "] = " << updated_params.back());
TRACCC_DEBUG_HOST("updated_params["
<< updated_params.size() - 1
<< "] = " << updated_params.back());
}

/*****************************************************************
Expand All @@ -319,10 +331,12 @@ combinatorial_kalman_filter(
.chi2_sum = prev_chi2_sum,
.ndf_sum = prev_ndf_sum});

TRACCC_VERBOSE_HOST("Hole state created");

updated_params.push_back(in_param);
TRACCC_VERBOSE("updated_params["
<< updated_params.size() - 1
<< "] = " << updated_params.back());
TRACCC_DEBUG_HOST("updated_params["
<< updated_params.size() - 1
<< "] = " << updated_params.back());
}
}

Expand Down Expand Up @@ -439,6 +453,8 @@ combinatorial_kalman_filter(
}

if (this_is_dominated) {
TRACCC_VERBOSE_HOST(
"Track is dead (deduplication)!");
param_liveness.at(tracks.at(i)) = 0u;
break;
}
Expand Down Expand Up @@ -466,11 +482,15 @@ combinatorial_kalman_filter(
// link to be a tip
if (links.at(step).at(link_id).n_skipped >
config.max_num_skipping_per_cand) {
TRACCC_WARNING_HOST(
"Create tip: Max no. of holes reached! Bound param:\n"
<< updated_params[link_id].vector());
tips.push_back({step, link_id});
continue;
}

const auto& param = updated_params[link_id];

// Create propagator state
typename traccc::details::ckf_propagator_t<
detector_t, bfield_t>::state propagation(param, field, det);
Expand All @@ -489,15 +509,19 @@ combinatorial_kalman_filter(
typename detector_t::algebra_type>::state s3{prop_cfg};
typename detray::momentum_aborter<scalar_type>::state s4{};
typename ckf_aborter::state s5;

// Update the actor config
s4.min_pT(static_cast<scalar_type>(config.min_pT));
s4.min_p(static_cast<scalar_type>(config.min_p));
s5.min_step_length = config.min_step_length_for_next_surface;
s5.max_count = config.max_step_counts_for_next_surface;

// Propagate to the next surface
TRACCC_DEBUG_HOST("Propagating... ");
propagator.propagate(propagation,
detray::tie(s0, s1, s2, s3, s4, s5));
TRACCC_DEBUG_HOST("Finished propagation: On surface "
<< propagation._navigation.barcode());

// If a surface found, add the parameter for the next
// step
Expand All @@ -511,14 +535,18 @@ combinatorial_kalman_filter(
const scalar theta = out_param.theta();
if (theta <= 0.f ||
theta >= 2.f * constant<traccc::scalar>::pi) {
TRACCC_ERROR_HOST("Theta is hit pole after propagation");
valid_track = false;
}

if (!std::isfinite(out_param.phi())) {
TRACCC_ERROR_HOST(
"Phi is infinite after propagation (Matrix inversion)");
valid_track = false;
}

if (math::fabs(out_param.qop()) == 0.f) {
TRACCC_ERROR_HOST("q over p is zero after propagation");
valid_track = false;
}

Expand All @@ -531,13 +559,19 @@ combinatorial_kalman_filter(
// tip
if (!valid_track &&
(step >= (config.min_track_candidates_per_track - 1u))) {
if (!s5.success) {
TRACCC_VERBOSE_HOST("Create tip: No next sensitive found");
} else {
TRACCC_VERBOSE_HOST("Create tip: Encountered error");
}
tips.push_back({step, link_id});
}

// If no more CKF step is expected, current candidate is
// kept as a tip
if (s5.success &&
(step == (config.max_track_candidates_per_track - 1u))) {
TRACCC_ERROR_HOST("Create tip: Max no. candidates");
tips.push_back({step, link_id});
}
}
Expand Down
32 changes: 32 additions & 0 deletions core/include/traccc/fitting/kalman_filter/gain_matrix_updater.hpp
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Expand Up @@ -14,6 +14,7 @@
#include "traccc/edm/measurement_helpers.hpp"
#include "traccc/edm/track_state_collection.hpp"
#include "traccc/fitting/status_codes.hpp"
#include "traccc/utils/logging.hpp"

namespace traccc {

Expand Down Expand Up @@ -62,6 +63,9 @@ struct gain_matrix_updater {

static constexpr unsigned int D = 2;

TRACCC_VERBOSE_HOST_DEVICE("In gain-matrix-updater...");
TRACCC_VERBOSE_HOST_DEVICE("Measurement dim: %d", dim);

assert(dim == 1u || dim == 2u);

assert(!bound_params.is_invalid());
Expand All @@ -79,6 +83,8 @@ struct gain_matrix_updater {

assert((dim > 1) || (getter::element(meas_local, 1u, 0u) == 0.f));

TRACCC_DEBUG_HOST("Predicted param.: " << bound_params);

// Predicted vector of bound track parameters
const bound_vector_type& predicted_vec = bound_params.vector();

Expand Down Expand Up @@ -109,6 +115,11 @@ struct gain_matrix_updater {
getter::element(V, 1u, 1u) = 1.f;
}

TRACCC_DEBUG_HOST("Measurement position: " << meas_local);
TRACCC_DEBUG_HOST("Measurement variance:\n" << V);
TRACCC_DEBUG_HOST("Predicted residual: " << meas_local -
H * predicted_vec);

const matrix_type<e_bound_size, D> projected_cov =
algebra::matrix::transposed_product<false, true>(predicted_cov, H);

Expand All @@ -118,22 +129,33 @@ struct gain_matrix_updater {
assert(matrix::determinant(M) != 0.f);
const matrix_type<6, D> K = projected_cov * matrix::inverse(M);

TRACCC_DEBUG_HOST("H:\n" << H);
TRACCC_DEBUG_HOST("K:\n" << K);

// Calculate the filtered track parameters
const matrix_type<6, 1> filtered_vec =
predicted_vec + K * (meas_local - H * predicted_vec);
const matrix_type<6, 6> filtered_cov = (I66 - K * H) * predicted_cov;

TRACCC_DEBUG_HOST("Filtered param:\n" << filtered_vec);
TRACCC_DEBUG_HOST("Filtered cov:\n" << filtered_cov);

// Return false if track is parallel to z-axis or phi is not finite
if (!std::isfinite(getter::element(filtered_vec, e_bound_theta, 0))) {
TRACCC_ERROR_HOST_DEVICE(
"Theta is infinite after filtering (Matrix inversion)");
return kalman_fitter_status::ERROR_INVERSION;
}

if (!std::isfinite(getter::element(filtered_vec, e_bound_phi, 0))) {
TRACCC_ERROR_HOST_DEVICE(
"Phi is infinite after filtering (Matrix inversion)");
return kalman_fitter_status::ERROR_INVERSION;
}

if (math::fabs(getter::element(filtered_vec, e_bound_qoverp, 0)) ==
0.f) {
TRACCC_ERROR_HOST_DEVICE("q/p is zero after filtering");
return kalman_fitter_status::ERROR_QOP_ZERO;
}

Expand All @@ -149,11 +171,19 @@ struct gain_matrix_updater {

const scalar chi2_val{getter::element(chi2, 0, 0)};

TRACCC_VERBOSE_HOST("Filtered residual: " << residual);
TRACCC_DEBUG_HOST("R:\n" << R);
TRACCC_DEBUG_HOST_DEVICE("det(R): %f", matrix::determinant(R));
TRACCC_DEBUG_HOST("R_inv:\n" << matrix::inverse(R));
TRACCC_VERBOSE_HOST_DEVICE("Chi2: %f", chi2_val);

if (chi2_val < 0.f) {
TRACCC_ERROR_HOST_DEVICE("Chi2 negative");
return kalman_fitter_status::ERROR_UPDATER_CHI2_NEGATIVE;
}

if (!std::isfinite(chi2_val)) {
TRACCC_ERROR_HOST_DEVICE("Chi2 infinite");
return kalman_fitter_status::ERROR_UPDATER_CHI2_NOT_FINITE;
}

Expand All @@ -167,6 +197,8 @@ struct gain_matrix_updater {

const scalar theta = trk_state.filtered_params().theta();
if (theta <= 0.f || theta >= 2.f * constant<traccc::scalar>::pi) {
TRACCC_ERROR_HOST_DEVICE("Hit theta pole after filtering : %f",
theta);
return kalman_fitter_status::ERROR_THETA_POLE;
}

Expand Down
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