profiling_unit.h

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// WOLF - Copyright (C) 2020-2026
// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License version 3
// as published by the Free Software Foundation.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
#pragma once
 
#include <iostream>
#include <iomanip>
#include <chrono>
#include <cmath>
 
namespace wolf
{
// class ProfilingUnit
class ProfilingUnit
{
  protected:
    bool                      running_;            
    double                    desired_period_us_;  
    unsigned int              n_callbacks_;        
    double                    average_period_us_;  
    std::chrono::microseconds acc_duration_us_;    
    std::chrono::microseconds max_duration_us_;    
    double                    var_duration_us_;    
    std::chrono::time_point<std::chrono::high_resolution_clock> first_clock_;  
    std::chrono::time_point<std::chrono::high_resolution_clock> start_clock_;  
 
  public:
    ProfilingUnit(double desired_period_sec = -1);
 
    void startProfiling();
 
    void stopProfiling();
 
    void printProfiling(const std::string& _tabs, std::ostream& stream = std::cout) const;
 
    std::string printDuration(double _duration_microsec, int precision = 2) const;
 
    void setDesiredPeriod(double _desired_period_sec);
 
    bool isRunning() const;
 
    unsigned int getNCallbacks() const;
 
    double getDesiredPeriod() const;
 
    double getAveragePeriod() const;
 
    double getAccDuration() const;
 
    double getAvgDuration() const;
 
    double getMaxDuration() const;
 
    double getVarDuration() const;
 
    double getStDevDuration() const;
};
 
inline bool ProfilingUnit::isRunning() const
{
    return running_;
}
 
inline unsigned int ProfilingUnit::getNCallbacks() const
{
    return n_callbacks_;
}
 
inline double ProfilingUnit::getDesiredPeriod() const
{
    return 1e-6 * desired_period_us_;
}
 
inline void ProfilingUnit::setDesiredPeriod(double _desired_period_sec)
{
    desired_period_us_ = 1e6 * _desired_period_sec;
}
 
inline double ProfilingUnit::getAveragePeriod() const
{
    return 1e-6 * average_period_us_;
}
 
inline double ProfilingUnit::getAccDuration() const
{
    return 1e-6 * acc_duration_us_.count();
}
 
inline double ProfilingUnit::getAvgDuration() const
{
    return (n_callbacks_ > 0 ? 1e-6 * acc_duration_us_.count() / n_callbacks_ : 0.0);
}
 
inline double ProfilingUnit::getMaxDuration() const
{
    return 1e-6 * max_duration_us_.count();
}
 
inline double ProfilingUnit::getVarDuration() const
{
    return 1e-12 * var_duration_us_;
}
 
inline double ProfilingUnit::getStDevDuration() const
{
    return 1e-6 * sqrt(var_duration_us_);
}
 
}  // namespace wolf