profiler.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_PROFILER_
#define MOVEIT_PROFILER_

#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(void)
    {
      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(void)
    {
      if (!wasRunning_)
        prof_.stop();
    }

  private:
    Profiler& prof_;
    bool wasRunning_;
  };

  static Profiler& Instance(void);

  Profiler(bool printOnDestroy = false, bool autoStart = false) : running_(false), printOnDestroy_(printOnDestroy)
  {
    if (autoStart)
      start();
  }

  ~Profiler(void)
  {
    if (printOnDestroy_ && !data_.empty())
      status();
  }

  static void Start(void)
  {
    Instance().start();
  }

  static void Stop(void)
  {
    Instance().stop();
  }

  static void Clear(void)
  {
    Instance().clear();
  }

  void start(void);

  void stop(void);

  void clear(void);

  static void Event(const std::string& name, const unsigned int times = 1)
  {
    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)
  {
    Instance().average(name, value);
  }

  void average(const std::string& name, const double value);

  static void Begin(const std::string& name)
  {
    Instance().begin(name);
  }

  static void End(const std::string& name)
  {
    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)
  {
    Instance().status(out, merge);
  }

  void status(std::ostream& out = std::cout, bool merge = true);

  static void Console(void)
  {
    Instance().console();
  }

  void console(void);

  bool running(void) const
  {
    return running_;
  }

  static bool Running(void)
  {
    return Instance().running();
  }

private:
  struct TimeInfo
  {
    TimeInfo(void)
      : 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(void)
    {
      start = boost::posix_time::microsec_clock::universal_time();
    }

    void update(void)
    {
      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_;
};
}
}

#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;
  }
};
}
}

#endif

#endif