profiler.cpp

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/* Author: Ioan Sucan */

#include "moveit/profiler/profiler.h"
#if MOVEIT_ENABLE_PROFILING

#include <ros/console.h>
#include <vector>
#include <algorithm>
#include <sstream>

namespace moveit
{
namespace tools
{
Profiler& Profiler::Instance()
{
  static Profiler p(false, false);
  return p;
}

void Profiler::start()
{
  lock_.lock();
  if (!running_)
  {
    tinfo_.set();
    running_ = true;
  }
  lock_.unlock();
}

void Profiler::stop()
{
  lock_.lock();
  if (running_)
  {
    tinfo_.update();
    running_ = false;
  }
  lock_.unlock();
}

void Profiler::clear()
{
  lock_.lock();
  data_.clear();
  tinfo_ = TimeInfo();
  if (running_)
    tinfo_.set();
  lock_.unlock();
}

void Profiler::event(const std::string& name, const unsigned int times)
{
  lock_.lock();
  data_[boost::this_thread::get_id()].events[name] += times;
  lock_.unlock();
}

void Profiler::average(const std::string& name, const double value)
{
  lock_.lock();
  AvgInfo& a = data_[boost::this_thread::get_id()].avg[name];
  a.total += value;
  a.totalSqr += value * value;
  a.parts++;
  lock_.unlock();
}

void Profiler::begin(const std::string& name)
{
  lock_.lock();
  data_[boost::this_thread::get_id()].time[name].set();
  lock_.unlock();
}

void Profiler::end(const std::string& name)
{
  lock_.lock();
  data_[boost::this_thread::get_id()].time[name].update();
  lock_.unlock();
}

namespace
{
inline double to_seconds(const boost::posix_time::time_duration& d)
{
  return (double)d.total_microseconds() / 1000000.0;
}
}

void Profiler::status(std::ostream& out, bool merge)
{
  stop();
  lock_.lock();
  printOnDestroy_ = false;

  out << std::endl;
  out << " *** Profiling statistics. Total counted time : " << to_seconds(tinfo_.total) << " seconds" << std::endl;

  if (merge)
  {
    PerThread combined;
    for (std::map<boost::thread::id, PerThread>::const_iterator it = data_.begin(); it != data_.end(); ++it)
    {
      for (std::map<std::string, unsigned long int>::const_iterator iev = it->second.events.begin();
           iev != it->second.events.end(); ++iev)
        combined.events[iev->first] += iev->second;
      for (std::map<std::string, AvgInfo>::const_iterator iavg = it->second.avg.begin(); iavg != it->second.avg.end();
           ++iavg)
      {
        combined.avg[iavg->first].total += iavg->second.total;
        combined.avg[iavg->first].totalSqr += iavg->second.totalSqr;
        combined.avg[iavg->first].parts += iavg->second.parts;
      }
      for (std::map<std::string, TimeInfo>::const_iterator itm = it->second.time.begin(); itm != it->second.time.end();
           ++itm)
      {
        TimeInfo& tc = combined.time[itm->first];
        tc.total = tc.total + itm->second.total;
        tc.parts = tc.parts + itm->second.parts;
        if (tc.shortest > itm->second.shortest)
          tc.shortest = itm->second.shortest;
        if (tc.longest < itm->second.longest)
          tc.longest = itm->second.longest;
      }
    }
    printThreadInfo(out, combined);
  }
  else
    for (std::map<boost::thread::id, PerThread>::const_iterator it = data_.begin(); it != data_.end(); ++it)
    {
      out << "Thread " << it->first << ":" << std::endl;
      printThreadInfo(out, it->second);
    }
  lock_.unlock();
}

void Profiler::console()
{
  std::stringstream ss;
  ss << std::endl;
  status(ss, true);
  ROS_INFO_STREAM_NAMED("profiler", ss.str());
}

namespace
{
struct dataIntVal
{
  std::string name;
  unsigned long int value;
};

struct SortIntByValue
{
  bool operator()(const dataIntVal& a, const dataIntVal& b) const
  {
    return a.value > b.value;
  }
};

struct dataDoubleVal
{
  std::string name;
  double value;
};

struct SortDoubleByValue
{
  bool operator()(const dataDoubleVal& a, const dataDoubleVal& b) const
  {
    return a.value > b.value;
  }
};
}

void Profiler::printThreadInfo(std::ostream& out, const PerThread& data)
{
  double total = to_seconds(tinfo_.total);

  std::vector<dataIntVal> events;
  for (std::map<std::string, unsigned long int>::const_iterator iev = data.events.begin(); iev != data.events.end();
       ++iev)
  {
    dataIntVal next = { iev->first, iev->second };
    events.push_back(next);
  }
  std::sort(events.begin(), events.end(), SortIntByValue());
  if (!events.empty())
    out << "Events:" << std::endl;
  for (unsigned int i = 0; i < events.size(); ++i)
    out << events[i].name << ": " << events[i].value << std::endl;

  std::vector<dataDoubleVal> avg;
  for (std::map<std::string, AvgInfo>::const_iterator ia = data.avg.begin(); ia != data.avg.end(); ++ia)
  {
    dataDoubleVal next = { ia->first, ia->second.total / (double)ia->second.parts };
    avg.push_back(next);
  }
  std::sort(avg.begin(), avg.end(), SortDoubleByValue());
  if (!avg.empty())
    out << "Averages:" << std::endl;
  for (unsigned int i = 0; i < avg.size(); ++i)
  {
    const AvgInfo& a = data.avg.find(avg[i].name)->second;
    out << avg[i].name << ": " << avg[i].value << " (stddev = "
        << sqrt(fabs(a.totalSqr - (double)a.parts * avg[i].value * avg[i].value) / ((double)a.parts - 1.)) << ")"
        << std::endl;
  }

  std::vector<dataDoubleVal> time;

  for (std::map<std::string, TimeInfo>::const_iterator itm = data.time.begin(); itm != data.time.end(); ++itm)
  {
    dataDoubleVal next = { itm->first, to_seconds(itm->second.total) };
    time.push_back(next);
  }

  std::sort(time.begin(), time.end(), SortDoubleByValue());
  if (!time.empty())
    out << "Blocks of time:" << std::endl;

  double unaccounted = total;
  for (unsigned int i = 0; i < time.size(); ++i)
  {
    const TimeInfo& d = data.time.find(time[i].name)->second;

    double tS = to_seconds(d.shortest);
    double tL = to_seconds(d.longest);
    out << time[i].name << ": " << time[i].value << "s (" << (100.0 * time[i].value / total) << "%), [" << tS
        << "s --> " << tL << " s], " << d.parts << " parts";
    if (d.parts > 0)
    {
      double pavg = to_seconds(d.total) / (double)d.parts;
      out << ", " << pavg << " s on average";
      if (pavg < 1.0)
        out << " (" << 1.0 / pavg << " /s)";
    }
    out << std::endl;
    unaccounted -= time[i].value;
  }
  // if we do not appear to have counted time multiple times, print the unaccounted time too
  if (unaccounted >= 0.0)
  {
    out << "Unaccounted time : " << unaccounted;
    if (total > 0.0)
      out << " (" << (100.0 * unaccounted / total) << " %)";
    out << std::endl;
  }

  out << std::endl;
}

}  // end of namespace tools
}  // end of namespace moveit
#endif