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profile.h

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2008, Willow Garage, Inc.
 *  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 the Willow Garage 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.
 *********************************************************************/


/* Author Ioan Sucan */

#ifndef FCL_UTIL_PROFILER
#define FCL_UTIL_PROFILER

#define ENABLE_PROFILING 1

#ifndef ENABLE_PROFILING


#  ifdef NDEBUG
#    define ENABLE_PROFILING 0
#  else
#    define ENABLE_PROFILING 1
#  endif

#endif

#if 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 fcl
{

namespace time
{

typedef boost::posix_time::ptime         point;

typedef boost::posix_time::time_duration duration;

inline point now(void)
{
  return boost::posix_time::microsec_clock::universal_time();
}

inline duration seconds(double sec)
{
  long s  = (long)sec;
  long us = (long)((sec - s) * 1000000);
  return boost::posix_time::seconds(s) + boost::posix_time::microseconds(us);
}

inline double seconds(const duration &d)
{
  return (double)d.total_microseconds() / 1000000.0;
}

}

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);

  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)
    {
    }

    time::duration    total;

    time::duration    shortest;

    time::duration    longest;

    unsigned long int parts;

    time::point       start;

    void set(void)
    {
      start = time::now();
    }

    void update(void)
    {
      const time::duration &dt = time::now() - 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>

namespace fcl
{

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)
  {
  }

  bool running(void) const
  {
    return false;
  }

  static bool Running(void)
  {
    return false;
  }
};
}
}

#endif

#endif

GAMMA Group, UNC Chapel Hill
Willow Garage
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