profiler_msg_adapter.cpp

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#include <swri_profiler_tools/profiler_msg_adapter.h>
#include <swri_profiler_tools/util.h>

namespace swri_profiler_tools
{
ProfilerMsgAdapter::ProfilerMsgAdapter()
{  
}

ProfilerMsgAdapter::~ProfilerMsgAdapter()
{
}

void ProfilerMsgAdapter::processIndex(const swri_profiler_msgs::ProfileIndexArray &msg)
{
  const QString ros_node_name =
    normalizeNodePath(QString::fromStdString(msg.header.frame_id));

  // An index message contains the entire index table for the message,
  // so we wipe out any existing index to make sure we are completely
  // in sync.
  index_[ros_node_name].clear();
  
  for (auto const &item : msg.data) {
    QString label = normalizeNodePath(QString::fromStdString(item.label));

    // This is a special case to handle nodelets nicely, and it works
    // when users design their labels intelligently by wrapping each
    // ROS callback with a SWRI_PROFILE(getName()).  If the
    // nodelet is run as part of a nodelet manager, the node name and
    // nodelet name will differ and we want to append the node name to
    // allow us to guage the relative runtimes of all the instrumented
    // nodelets in that manager.  If the nodelet is run standalone,
    // then the nodelet name and node name will be the same and we
    // don't need to duplicate it.
    if (!label.startsWith(ros_node_name)) {
      label = ros_node_name + label;
    }

    
    index_[ros_node_name][item.key] = label;
  }
}

bool ProfilerMsgAdapter::processData(
  NewProfileDataVector &out_data,
  const swri_profiler_msgs::ProfileDataArray &msg)
{
  const QString node_name(QString::fromStdString(msg.header.frame_id));

  if (index_.count(node_name) == 0) {
    qWarning("No index for node '%s'. Dropping data update.", qPrintable(node_name));
    return false;
  }

  int timestamp_sec = std::round(msg.header.stamp.toSec());

  NewProfileDataVector out;
  out.reserve(msg.data.size());
  for (auto const &item : msg.data) {
    if (index_[node_name].count(item.key) == 0) {
      qWarning("No index for block %d of %s. Dropping all data "
                "because index is probably invalid.",
                item.key, qPrintable(node_name));
      return false;
    }

    out.emplace_back();
    out.back().label = index_[node_name][item.key];
    out.back().wall_stamp_sec = timestamp_sec;
    out.back().ros_stamp_ns = msg.rostime_stamp.toNSec();
    out.back().cumulative_call_count = item.abs_call_count;
    out.back().cumulative_inclusive_duration_ns = item.abs_total_duration.toNSec();
    out.back().incremental_inclusive_duration_ns = item.rel_total_duration.toNSec();
    out.back().incremental_max_duration_ns = item.rel_max_duration.toNSec();
  }

  out_data.insert(out_data.end(), out.begin(), out.end());
  return true;
}

void ProfilerMsgAdapter::reset()
{
  index_.clear();
}
};  // namespace swri_profiler_tools