profiler.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#define MOVEIT_ENABLE_PROFILING 1
 
#ifndef MOVEIT_ENABLE_PROFILING
 
#ifdef NDEBUG
#define MOVEIT_ENABLE_PROFILING 0
#else
#define MOVEIT_ENABLE_PROFILING 1
#endif
 
#endif
 
#if MOVEIT_ENABLE_PROFILING
 
#include <map>
#include <string>
#include <iostream>
#include <boost/thread.hpp>
#include <boost/noncopyable.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
 
namespace moveit
{
namespace tools
{
class Profiler : private boost::noncopyable
{
public:
  class ScopedBlock
  {
  public:
    ScopedBlock(const std::string& name, Profiler& prof = Profiler::instance()) : name_(name), prof_(prof)
    {
      prof_.begin(name);
    }
 
    ~ScopedBlock()
    {
      prof_.end(name_);
    }
 
  private:
    std::string name_;
    Profiler& prof_;
  };
 
  class ScopedStart
  {
  public:
    ScopedStart(Profiler& prof = Profiler::instance()) : prof_(prof), wasRunning_(prof_.running())
    {
      if (!wasRunning_)
        prof_.start();
    }
 
    ~ScopedStart()
    {
      if (!wasRunning_)
        prof_.stop();
    }
 
  private:
    Profiler& prof_;
    bool wasRunning_;
  };
 
  static Profiler& instance();
 
  Profiler(bool printOnDestroy = false, bool autoStart = false) : running_(false), printOnDestroy_(printOnDestroy)
  {
    if (autoStart)
      start();
  }
 
  ~Profiler()
  {
    if (printOnDestroy_ && !data_.empty())
      status();
  }
 
  static void Start()  // NOLINT(readability-identifier-naming)
  {
    instance().start();
  }
 
  static void Stop()  // NOLINT(readability-identifier-naming)
  {
    instance().stop();
  }
 
  static void Clear()  // NOLINT(readability-identifier-naming)
  {
    instance().clear();
  }
 
  void start();
 
  void stop();
 
  void clear();
 
  static void Event(const std::string& name, const unsigned int times = 1)  // NOLINT(readability-identifier-naming)
  {
    instance().event(name, times);
  }
 
  void event(const std::string& name, const unsigned int times = 1);
 
  static void Average(const std::string& name, const double value)  // NOLINT(readability-identifier-naming)
  {
    instance().average(name, value);
  }
 
  void average(const std::string& name, const double value);
 
  static void Begin(const std::string& name)  // NOLINT(readability-identifier-naming)
  {
    instance().begin(name);
  }
 
  static void End(const std::string& name)  // NOLINT(readability-identifier-naming)
  {
    instance().end(name);
  }
 
  void begin(const std::string& name);
 
  void end(const std::string& name);
 
  static void Status(std::ostream& out = std::cout, bool merge = true)  // NOLINT(readability-identifier-naming)
  {
    instance().status(out, merge);
  }
 
  void status(std::ostream& out = std::cout, bool merge = true);
 
  static void Console()  // NOLINT(readability-identifier-naming)
  {
    instance().console();
  }
 
  void console();
 
  bool running() const
  {
    return running_;
  }
 
  static bool Running()  // NOLINT(readability-identifier-naming)
  {
    return instance().running();
  }
 
private:
  struct TimeInfo
  {
    TimeInfo()
      : total(0, 0, 0, 0), shortest(boost::posix_time::pos_infin), longest(boost::posix_time::neg_infin), parts(0)
    {
    }
 
    boost::posix_time::time_duration total;
 
    boost::posix_time::time_duration shortest;
 
    boost::posix_time::time_duration longest;
 
    unsigned long int parts;
 
    boost::posix_time::ptime start;
 
    void set()
    {
      start = boost::posix_time::microsec_clock::universal_time();
    }
 
    void update()
    {
      const boost::posix_time::time_duration& dt = boost::posix_time::microsec_clock::universal_time() - start;
      if (dt > longest)
        longest = dt;
      if (dt < shortest)
        shortest = dt;
      total = total + dt;
      ++parts;
    }
  };
 
  struct AvgInfo
  {
    double total;
 
    double totalSqr;
 
    unsigned long int parts;
  };
 
  struct PerThread
  {
    std::map<std::string, unsigned long int> events;
 
    std::map<std::string, AvgInfo> avg;
 
    std::map<std::string, TimeInfo> time;
  };
 
  void printThreadInfo(std::ostream& out, const PerThread& data);
 
  boost::mutex lock_;
  std::map<boost::thread::id, PerThread> data_;
  TimeInfo tinfo_;
  bool running_;
  bool printOnDestroy_;
};
}  // namespace tools
}  // namespace moveit
 
#else
 
#include <string>
#include <iostream>
 
/* If profiling is disabled, provide empty implementations for the
   public functions */
namespace moveit
{
namespace tools
{
class Profiler
{
public:
  class ScopedBlock
  {
  public:
    ScopedBlock(const std::string&, Profiler& = Profiler::instance())
    {
    }
 
    ~ScopedBlock(void)
    {
    }
  };
 
  class ScopedStart
  {
  public:
    ScopedStart(Profiler& = Profiler::instance())
    {
    }
 
    ~ScopedStart(void)
    {
    }
  };
 
  static Profiler& instance(void);
 
  Profiler(bool = true, bool = true)
  {
  }
 
  ~Profiler(void)
  {
  }
 
  static void Start(void)
  {
  }
 
  static void Stop(void)
  {
  }
 
  static void Clear(void)
  {
  }
 
  void start(void)
  {
  }
 
  void stop(void)
  {
  }
 
  void clear(void)
  {
  }
 
  static void Event(const std::string&, const unsigned int = 1)
  {
  }
 
  void event(const std::string&, const unsigned int = 1)
  {
  }
 
  static void Average(const std::string&, const double)
  {
  }
 
  void average(const std::string&, const double)
  {
  }
 
  static void Begin(const std::string&)
  {
  }
 
  static void End(const std::string&)
  {
  }
 
  void begin(const std::string&)
  {
  }
 
  void end(const std::string&)
  {
  }
 
  static void Status(std::ostream& = std::cout, bool = true)
  {
  }
 
  void status(std::ostream& = std::cout, bool = true)
  {
  }
 
  static void Console(void)
  {
  }
 
  void console(void)
  {
  }
 
  bool running(void) const
  {
    return false;
  }
 
  static bool Running(void)
  {
    return false;
  }
};
}  // namespace tools
}  // namespace moveit
 
#endif