detail/profiler.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2008-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2016, Open Source Robotics Foundation
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Open Source Robotics Foundation nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef FCL_COMMON_DETAIL_PROFILER_H
#define FCL_COMMON_DETAIL_PROFILER_H
 
#include <algorithm>
#include <chrono>
#include <iostream>
#include <map>
#include <cmath>
#include <mutex>
#include <sstream>
#include <string>
#include <thread>
#include <vector>
#include "fcl/common/time.h"
#include "fcl/export.h"
 
namespace fcl {
namespace detail {
 
class FCL_EXPORT Profiler
{
public:
  // non-copyable
  Profiler(const Profiler&) = delete;
  Profiler& operator=(const Profiler&) = delete;
 
  class FCL_EXPORT ScopedBlock;
 
  class FCL_EXPORT ScopedStart;
 
  static Profiler& Instance(void);
 
  Profiler(bool printOnDestroy = false, bool autoStart = false);
 
  ~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& name, const unsigned int times = 1);
 
  void event(const std::string &name, const unsigned int times = 1);
 
  static void Average(const std::string& name, const double value);
 
  void average(const std::string &name, const double value);
 
  static void Begin(const std::string &name);
 
  static void End(const std::string &name);
 
  void begin(const std::string &name);
 
  void end(const std::string &name);
 
  static void Status(std::ostream &out = std::cout, bool merge = true);
 
  void status(std::ostream &out = std::cout, bool merge = true);
 
  bool running(void) const;
 
  static bool Running(void);
 
private:
 
  struct TimeInfo
  {
    TimeInfo(void);
 
    time::duration    total;
 
    time::duration    shortest;
 
    time::duration    longest;
 
    unsigned long int parts;
 
    time::point       start;
 
    void set(void);
 
    void update(void);
  };
 
  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);
 
  std::mutex                             lock_;
  std::map<std::thread::id, PerThread>   data_;
  TimeInfo                               tinfo_;
  bool                                   running_;
  bool                                   printOnDestroy_;
 
};
 
class FCL_EXPORT Profiler::ScopedBlock
{
public:
  ScopedBlock(const std::string &name, Profiler &prof = Profiler::Instance());
 
  ~ScopedBlock(void);
 
private:
 
  std::string  name_;
  Profiler    &prof_;
};
 
class FCL_EXPORT Profiler::ScopedStart
{
public:
 
  ScopedStart(Profiler &prof = Profiler::Instance());
 
  ~ScopedStart(void);
 
private:
 
  Profiler &prof_;
  bool      wasRunning_;
};
 
} // namespace detail
} // namespace fcl
 
#endif // #ifndef FCL_COMMON_DETAIL_PROFILER_H