1 /* Copyright (C) 2013-2016, The Regents of The University of Michigan.
2 All rights reserved.
3 This software was developed in the APRIL Robotics Lab under the
4 direction of Edwin Olson, ebolson@umich.edu. This software may be
5 available under alternative licensing terms; contact the address above.
6 Redistribution and use in source and binary forms, with or without
7 modification, are permitted provided that the following conditions are met:
8 1. Redistributions of source code must retain the above copyright notice, this
9 list of conditions and the following disclaimer.
10 2. Redistributions in binary form must reproduce the above copyright notice,
11 this list of conditions and the following disclaimer in the documentation
12 and/or other materials provided with the distribution.
13 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
14 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
15 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
16 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
17 ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
18 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
19 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
20 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
21 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
22 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
23 The views and conclusions contained in the software and documentation are those
24 of the authors and should not be interpreted as representing official policies,
25 either expressed or implied, of the Regents of The University of Michigan.
26 */
27
28 #pragma once
29
30 #ifdef __cplusplus
31 //extern "C" {
32 #endif
33
34 #include <stdio.h>
35 #include <string.h>
36 #include <stdint.h>
37
38 #include "time_util.h"
39 #include "zarray.h"
40
41 struct timeprofile_entry
42 {
43 char name[32];
44 int64_t utime;
45 };
46
47 typedef struct timeprofile timeprofile_t;
48 struct timeprofile
49 {
50 int64_t utime;
51 zarray_t *stamps;
52 };
53
timeprofile_create()54 static inline timeprofile_t *timeprofile_create()
55 {
56 timeprofile_t *tp = (timeprofile_t*) calloc(1, sizeof(timeprofile_t));
57 tp->stamps = zarray_create(sizeof(struct timeprofile_entry));
58
59 tp->utime = utime_now();
60
61 return tp;
62 }
63
timeprofile_destroy(timeprofile_t * tp)64 static inline void timeprofile_destroy(timeprofile_t *tp)
65 {
66 zarray_destroy(tp->stamps);
67 free(tp);
68 }
69
timeprofile_clear(timeprofile_t * tp)70 static inline void timeprofile_clear(timeprofile_t *tp)
71 {
72 zarray_clear(tp->stamps);
73 tp->utime = utime_now();
74 }
75
timeprofile_stamp(timeprofile_t * tp,const char * name)76 static inline void timeprofile_stamp(timeprofile_t *tp, const char *name)
77 {
78 struct timeprofile_entry tpe;
79
80 strncpy(tpe.name, name, sizeof(tpe.name));
81 tpe.name[sizeof(tpe.name)-1] = 0;
82 tpe.utime = utime_now();
83
84 zarray_add(tp->stamps, &tpe);
85 }
86
timeprofile_display(timeprofile_t * tp)87 static inline void timeprofile_display(timeprofile_t *tp)
88 {
89 int64_t lastutime = tp->utime;
90
91 for (int i = 0; i < zarray_size(tp->stamps); i++) {
92 struct timeprofile_entry *stamp;
93
94 zarray_get_volatile(tp->stamps, i, &stamp);
95
96 double cumtime = (stamp->utime - tp->utime)/1000000.0;
97
98 double parttime = (stamp->utime - lastutime)/1000000.0;
99
100 printf("%2d %32s %15f ms %15f ms\n", i, stamp->name, parttime*1000, cumtime*1000);
101
102 lastutime = stamp->utime;
103 }
104 }
105
timeprofile_total_utime(timeprofile_t * tp)106 static inline uint64_t timeprofile_total_utime(timeprofile_t *tp)
107 {
108 if (zarray_size(tp->stamps) == 0)
109 return 0;
110
111 struct timeprofile_entry *first, *last;
112 zarray_get_volatile(tp->stamps, 0, &first);
113 zarray_get_volatile(tp->stamps, zarray_size(tp->stamps) - 1, &last);
114
115 return last->utime - first->utime;
116 }
117
118 #ifdef __cplusplus
119 //}
120 #endif
121