00001 // ***************************************************************************** 00002 // 00003 // Copyright (c) 2017, Southwest Research Institute® (SwRI®) 00004 // All rights reserved. 00005 // 00006 // Redistribution and use in source and binary forms, with or without 00007 // modification, are permitted provided that the following conditions are met: 00008 // * Redistributions of source code must retain the above copyright 00009 // notice, this list of conditions and the following disclaimer. 00010 // * Redistributions in binary form must reproduce the above copyright 00011 // notice, this list of conditions and the following disclaimer in the 00012 // documentation and/or other materials provided with the distribution. 00013 // * Neither the name of Southwest Research Institute® (SwRI®) nor the 00014 // names of its contributors may be used to endorse or promote products 00015 // derived from this software without specific prior written permission. 00016 // 00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 // ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY 00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00027 // 00028 // ***************************************************************************** 00029 #pragma once 00030 00031 #include <ros/time.h> 00032 #include <ros/console.h> 00033 00034 namespace mapviz 00035 { 00036 /* This class measures the wall time of an interval and keeps track of 00037 * the number of intervals, the average duration, and the maximum 00038 * duration. This is used to provide some simple measurements to keep 00039 * an eye on performance. 00040 */ 00041 class Stopwatch 00042 { 00043 public: 00044 Stopwatch() 00045 : 00046 count_(0) 00047 { 00048 } 00049 00050 /* Start measuring a new time interval. */ 00051 void start() 00052 { 00053 start_ = ros::WallTime::now(); 00054 } 00055 00056 /* End the current time interval and update the measurements. 00057 * Behavior is undefined if start() was not called prior to this. 00058 */ 00059 void stop() 00060 { 00061 ros::WallDuration dt = ros::WallTime::now() - start_; 00062 count_ += 1; 00063 total_time_ += dt; 00064 max_time_ = std::max(max_time_, dt); 00065 } 00066 00067 /* Return the number of intervals measured. */ 00068 int count() const { return count_; } 00069 00070 /* Returns the longest observed duration. */ 00071 ros::WallDuration maxTime() const { return max_time_; } 00072 00073 /* Returns the average duration spent in the interval. */ 00074 ros::WallDuration avgTime() const 00075 { 00076 if (count_) 00077 { 00078 return total_time_*(1.0/count_); 00079 } 00080 else 00081 { 00082 return ros::WallDuration(); 00083 } 00084 } 00085 00086 /* Print measurement info to the ROS console. */ 00087 void printInfo(const std::string &name) const 00088 { 00089 if (count_) 00090 { 00091 ROS_INFO("%s -- calls: %d, avg time: %.2fms, max time: %.2fms", 00092 name.c_str(), 00093 count_, 00094 avgTime().toSec()*1000.0, 00095 maxTime().toSec()*1000.0); 00096 } 00097 else 00098 { 00099 ROS_INFO("%s -- calls: %d, avg time: --ms, max time: --ms", 00100 name.c_str(), 00101 count_); 00102 } 00103 } 00104 00105 private: 00106 int count_; 00107 ros::WallDuration total_time_; 00108 ros::WallDuration max_time_; 00109 00110 ros::WallTime start_; 00111 }; // class PluginInstrumentation 00112 } // namespace mapviz