| Directory: | ./ |
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| File: | include/real_time_tools/timer.hpp |
| Date: | 2022-06-29 13:58:11 |
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| Branches: | 2 | 4 | 50.0% |
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| 1 | /** | ||
| 2 | * @file timer.hpp | ||
| 3 | * @author Maximilien Naveau (maximilien.naveau@gmail.com) | ||
| 4 | * license License BSD-3-Clause | ||
| 5 | * @copyright Copyright (c) 2019, New York University and Max Planck | ||
| 6 | * Gesellschaft. | ||
| 7 | * @date 2019-05-22 | ||
| 8 | * | ||
| 9 | * @brief Some tools to measure (ellapsed) time. | ||
| 10 | */ | ||
| 11 | |||
| 12 | #ifndef TIMER_HPP | ||
| 13 | #define TIMER_HPP | ||
| 14 | |||
| 15 | #include <unistd.h> | ||
| 16 | #include <chrono> | ||
| 17 | #include <cmath> | ||
| 18 | #include <deque> | ||
| 19 | #include <string> | ||
| 20 | |||
| 21 | #include "real_time_tools/iostream.hpp" | ||
| 22 | |||
| 23 | namespace real_time_tools | ||
| 24 | { | ||
| 25 | /** | ||
| 26 | * @brief The timer class is a simple time measurement class that measure | ||
| 27 | * between tic and tac and with a memory buffer of a certain size. | ||
| 28 | */ | ||
| 29 | 1006 | class Timer | |
| 30 | { | ||
| 31 | public: | ||
| 32 | /** | ||
| 33 | * @brief timer constructor | ||
| 34 | */ | ||
| 35 | Timer(); | ||
| 36 | |||
| 37 | /** | ||
| 38 | * @brief tic measures the time when it is called. This is to be used with | ||
| 39 | * the tac method that will return the time elapsed between tic and tac. | ||
| 40 | */ | ||
| 41 | void tic(); | ||
| 42 | |||
| 43 | /** | ||
| 44 | * @brief tac is to be used after tic has been called. | ||
| 45 | * @return the duration in seconds between the call of tic() and the call of | ||
| 46 | * tac(). if tic() has not been called previously this will return nan | ||
| 47 | */ | ||
| 48 | double tac(); | ||
| 49 | |||
| 50 | /** | ||
| 51 | * @brief this is like a tac() followed by a tic(), making sure the | ||
| 52 | * previous tac_time becomes the tic_time | ||
| 53 | */ | ||
| 54 | double tac_tic(); | ||
| 55 | |||
| 56 | /** | ||
| 57 | * @brief Save the time interval measured | ||
| 58 | * | ||
| 59 | * @param time_interval | ||
| 60 | */ | ||
| 61 | void log_time_interval(double time_interval); | ||
| 62 | |||
| 63 | /** | ||
| 64 | * IOSTREAM functions | ||
| 65 | */ | ||
| 66 | |||
| 67 | /** | ||
| 68 | * @brief dump_tic_tac_measurements writes in a file the time elapsed | ||
| 69 | * between every tick | ||
| 70 | * @param file_name is the path to the file. | ||
| 71 | */ | ||
| 72 | void dump_measurements(std::string file_name) const; | ||
| 73 | |||
| 74 | /** | ||
| 75 | * @brief print_statistics display in real time the statistics of the time | ||
| 76 | * measurements acquiered so far. | ||
| 77 | */ | ||
| 78 | void print_statistics() const; | ||
| 79 | |||
| 80 | /** | ||
| 81 | * SETTERS | ||
| 82 | */ | ||
| 83 | |||
| 84 | /** | ||
| 85 | * @brief set_memory_size sets the buffer size. It resets all value of the | ||
| 86 | * buffer to zero. | ||
| 87 | * !! WARNING non real time method. !! | ||
| 88 | * @param memory_buffer_size is the size use to reset the size of the | ||
| 89 | */ | ||
| 90 | 2008 | void set_memory_size(const unsigned memory_buffer_size) | |
| 91 | { | ||
| 92 | 2008 | count_ = 0; | |
| 93 | 2008 | memory_buffer_size_ = memory_buffer_size; | |
| 94 |
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2008 | time_measurement_buffer_.resize(memory_buffer_size_, 0.0); |
| 95 | 2008 | } | |
| 96 | |||
| 97 | /** | ||
| 98 | * @brief set_name modify the name of the object for display purposes. | ||
| 99 | * @param name is the new name of the object. | ||
| 100 | */ | ||
| 101 | void set_name(std::string name) | ||
| 102 | { | ||
| 103 | name_ = name; | ||
| 104 | } | ||
| 105 | |||
| 106 | /** | ||
| 107 | * GETTERS | ||
| 108 | */ | ||
| 109 | |||
| 110 | /** | ||
| 111 | * @brief get_min_elapsed_sec | ||
| 112 | * @return a copy of the minimum elapsed times | ||
| 113 | */ | ||
| 114 | 3 | double get_min_elapsed_sec() const | |
| 115 | { | ||
| 116 | 3 | return min_elapsed_time_; | |
| 117 | } | ||
| 118 | |||
| 119 | /** | ||
| 120 | * @brief get_max_elapsed_sec | ||
| 121 | * @return a copy of the maximum elapsed times | ||
| 122 | */ | ||
| 123 | 3 | double get_max_elapsed_sec() const | |
| 124 | { | ||
| 125 | 3 | return max_elapsed_time_; | |
| 126 | } | ||
| 127 | |||
| 128 | /** | ||
| 129 | * @brief get_avg_elapsed_sec | ||
| 130 | * @return a copy of the average elapsed time | ||
| 131 | */ | ||
| 132 | 3 | double get_avg_elapsed_sec() const | |
| 133 | { | ||
| 134 | 3 | return avg_elapsed_time_; | |
| 135 | } | ||
| 136 | |||
| 137 | /** | ||
| 138 | * @brief get_std_dev_elapsed_sec | ||
| 139 | * @return a copy of the standard deviation of the elapsed times | ||
| 140 | */ | ||
| 141 | 3 | double get_std_dev_elapsed_sec() const | |
| 142 | { | ||
| 143 | 6 | return std::sqrt(second_moment_elapsed_time_ - | |
| 144 | 6 | avg_elapsed_time_ * avg_elapsed_time_); | |
| 145 | } | ||
| 146 | |||
| 147 | protected: | ||
| 148 | /** | ||
| 149 | * @brief tic_time_ time at which tic() was called | ||
| 150 | */ | ||
| 151 | double tic_time_; | ||
| 152 | |||
| 153 | /** | ||
| 154 | * @brief time_measurement_buffer_ this is a chained list of double | ||
| 155 | */ | ||
| 156 | std::deque<double> time_measurement_buffer_; | ||
| 157 | |||
| 158 | /** | ||
| 159 | * @brief count_time_buffer_ is a counter that manages the | ||
| 160 | * time_measurement_buffer_ fill in. | ||
| 161 | */ | ||
| 162 | long unsigned count_; | ||
| 163 | |||
| 164 | /** | ||
| 165 | * @brief memory_buffer_size_ is the max size of the memory buffer. | ||
| 166 | */ | ||
| 167 | unsigned memory_buffer_size_; | ||
| 168 | |||
| 169 | /** | ||
| 170 | * @brief min_elapsed_time_ is the minimum measured elapsed time | ||
| 171 | */ | ||
| 172 | double min_elapsed_time_; | ||
| 173 | |||
| 174 | /** | ||
| 175 | * @brief max_elapsed_time_ is the maximum measured elapsed time | ||
| 176 | */ | ||
| 177 | double max_elapsed_time_; | ||
| 178 | |||
| 179 | /** | ||
| 180 | * @brief avg_elapsed_time_ is the average measured elapsed time | ||
| 181 | */ | ||
| 182 | double avg_elapsed_time_; | ||
| 183 | |||
| 184 | /** | ||
| 185 | * @brief avg_elapsed_time_ is the second moment measured elapsed | ||
| 186 | * time | ||
| 187 | */ | ||
| 188 | double second_moment_elapsed_time_; | ||
| 189 | |||
| 190 | /** | ||
| 191 | * @brief name_ of the timer object | ||
| 192 | */ | ||
| 193 | std::string name_; | ||
| 194 | |||
| 195 | /** | ||
| 196 | * Some utilities | ||
| 197 | */ | ||
| 198 | public: | ||
| 199 | /** | ||
| 200 | * @brief get_current_time_sec gives the current time in double and in | ||
| 201 | * seconds | ||
| 202 | * @return | ||
| 203 | */ | ||
| 204 | static double get_current_time_sec(); | ||
| 205 | |||
| 206 | /** | ||
| 207 | * @brief get_current_time_ms gives the current time in double and in | ||
| 208 | * milli seconds | ||
| 209 | * @return | ||
| 210 | */ | ||
| 211 | 1199 | static double get_current_time_ms() | |
| 212 | { | ||
| 213 | 1199 | return 1e3 * get_current_time_sec(); | |
| 214 | } | ||
| 215 | |||
| 216 | /** | ||
| 217 | * @brief puts the current thread to sleep for the duration | ||
| 218 | * of "sleep_duration_us" micro-seconds. | ||
| 219 | * @param sleep_time_us is the sleeping duration asked in micro-seconds. | ||
| 220 | * @return 0 on success, error code otherwise | ||
| 221 | */ | ||
| 222 | static int sleep_microseconds(int sleep_duration_us); | ||
| 223 | |||
| 224 | /** | ||
| 225 | * @brief sleep_sec puts the current thread to sleep for the duration | ||
| 226 | * of "sleep_time_sec" seconds. | ||
| 227 | * @param sleep_time_sec is the sleeping duration asked in seconds. | ||
| 228 | */ | ||
| 229 | static void sleep_sec(const double& sleep_time_sec); | ||
| 230 | |||
| 231 | /** | ||
| 232 | * @brief sleep_ms puts the current thread to sleep for the duration | ||
| 233 | * of "sleep_time_sec" seconds. | ||
| 234 | * @param sleep_time_ms is the sleeping duration asked in seconds. | ||
| 235 | */ | ||
| 236 | 399 | static void sleep_ms(const double& sleep_time_ms) | |
| 237 | { | ||
| 238 |
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399 | sleep_sec(1e-3 * sleep_time_ms); |
| 239 | 399 | } | |
| 240 | |||
| 241 | /** | ||
| 242 | * @brief sleep_until_sec puts the threads to sleep until the date | ||
| 243 | * "date_sec" is reached. | ||
| 244 | * @param date_sec is the date until when to sleep in seconds. | ||
| 245 | */ | ||
| 246 | static void sleep_until_sec(const double& date_sec); | ||
| 247 | |||
| 248 | #ifndef MAC_OS | ||
| 249 | /** | ||
| 250 | * @brief timespec_add_sec posix type of a date in time. | ||
| 251 | * @param date_spec is the date to be changed | ||
| 252 | * @param duration_sec the duration to be added to "t" in seconds | ||
| 253 | */ | ||
| 254 | static void timespec_add_sec(struct timespec& date_spec, | ||
| 255 | const double duration_sec); | ||
| 256 | |||
| 257 | /** | ||
| 258 | * @brief sec_to_timespec converts a double representing the time in seconds | ||
| 259 | * to a struct timespec. | ||
| 260 | * @param[in] date_sec is the time in sec to be converted. | ||
| 261 | * @param[out] date_spec is the converted structure. | ||
| 262 | */ | ||
| 263 | static void sec_to_timespec(double date_sec, struct timespec& date_spec); | ||
| 264 | |||
| 265 | #endif // MAC_OS | ||
| 266 | |||
| 267 | /** | ||
| 268 | * @brief get_current_date_str get the current date and format it in a | ||
| 269 | * string with "year_month_day_hour_minute_sec" | ||
| 270 | */ | ||
| 271 | static std::string get_current_date_str(); | ||
| 272 | }; | ||
| 273 | |||
| 274 | } // namespace real_time_tools | ||
| 275 | |||
| 276 | #endif // TIMER_HPP | ||
| 277 |