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Commit 0db6081e authored by Joseph Mirabel's avatar Joseph Mirabel
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Remove profile.hh and profile.cpp

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CMakeLists.txt
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......@@ -159,7 +159,6 @@ SET(${PROJECT_NAME}_HEADERS
include/hpp/fcl/collision_object.h
include/hpp/fcl/collision_utility.h
include/hpp/fcl/octree.h
include/hpp/fcl/profile.h
include/hpp/fcl/fwd.hh
include/hpp/fcl/mesh_loader/assimp.h
include/hpp/fcl/mesh_loader/loader.h
......
include/hpp/fcl/profile.h deleted 100644 → 0
View file @ b10dc7fb
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2008-2014, Willow Garage, Inc.
* Copyright (c) 2014-2015, Open Source Robotics Foundation
* 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 Open Source Robotics Foundation 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 HPP_FCL_UTIL_PROFILER
#define HPP_FCL_UTIL_PROFILER
#define ENABLE_PROFILING 1
#ifndef ENABLE_PROFILING
/// The ENABLE_PROFILING macro can be set externally. If it is not, profiling is enabled by default, unless NDEBUG is defined.
# 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/date_time/posix_time/posix_time.hpp>
#include <hpp/fcl/config.hh>
namespace hpp
{
namespace fcl
{
/// @brief Namespace containing time datatypes and time operations
namespace time
{
/// @brief Representation of a point in time
typedef boost::posix_time::ptime point;
/// @brief Representation of a time duration
typedef boost::posix_time::time_duration duration;
/// @brief Get the current time point
inline point now(void)
{
return boost::posix_time::microsec_clock::universal_time();
}
/// @brief Return the time duration representing a given number of seconds
inline duration seconds(double sec)
{
long int s = static_cast<long int>(sec);
long int us = ((static_cast<long int>(sec) - s) * 1000000);
return boost::posix_time::seconds(s) + boost::posix_time::microseconds(us);
}
/// @brief Return the number of seconds that a time duration represents
inline double seconds(const duration &d)
{
return (double)d.total_microseconds() / 1000000.0;
}
}
namespace tools
{
/// @brief This is a simple thread-safe tool for counting time
/// spent in various chunks of code. This is different from
/// external profiling tools in that it allows the user to count
/// time spent in various bits of code (sub-function granularity)
/// or count how many times certain pieces of code are executed.
class HPP_FCL_DLLAPI Profiler
{
public:
/// @brief This instance will call Profiler::begin() when constructed and Profiler::end() when it goes out of scope.
class HPP_FCL_DLLAPI ScopedBlock
{
public:
/// @brief Start counting time for the block named @e name of the profiler @e prof
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_;
};
/// @brief This instance will call Profiler::start() when constructed and Profiler::stop() when it goes out of scope.
/// If the profiler was already started, this block's constructor and destructor take no action
class HPP_FCL_DLLAPI ScopedStart
{
public:
/// @brief Take as argument the profiler instance to operate on (@e prof)
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_;
};
/// @brief Return an instance of the class
static Profiler& Instance(void);
/// @brief Constructor. It is allowed to separately instantiate this
/// class (not only as a singleton)
Profiler(bool printOnDestroy = false, bool autoStart = false) : running_(false), printOnDestroy_(printOnDestroy)
{
if (autoStart)
start();
}
Profiler(const Profiler&) = delete;
Profiler& operator=(const Profiler&) = delete;
/// @brief Destructor
~Profiler(void)
{
if (printOnDestroy_ && !data_.empty())
status();
}
/// @brief Start counting time
static void Start(void)
{
Instance().start();
}
/// @brief Stop counting time
static void Stop(void)
{
Instance().stop();
}
/// @brief Clear counted time and events
static void Clear(void)
{
Instance().clear();
}
/// @brief Start counting time
void start(void);
/// @brief Stop counting time
void stop(void);
/// @brief Clear counted time and events
void clear(void);
/// @brief Count a specific event for a number of times
static void Event(const std::string& name, const unsigned int times = 1)
{
Instance().event(name, times);
}
/// @brief Count a specific event for a number of times
void event(const std::string &name, const unsigned int times = 1);
/// @brief Maintain the average of a specific value
static void Average(const std::string& name, const double value)
{
Instance().average(name, value);
}
/// @brief Maintain the average of a specific value
void average(const std::string &name, const double value);
/// @brief Begin counting time for a specific chunk of code
static void Begin(const std::string &name)
{
Instance().begin(name);
}
/// @brief Stop counting time for a specific chunk of code
static void End(const std::string &name)
{
Instance().end(name);
}
/// @brief Begin counting time for a specific chunk of code
void begin(const std::string &name);
/// @brief Stop counting time for a specific chunk of code
void end(const std::string &name);
/// @brief Print the status of the profiled code chunks and
/// events. Optionally, computation done by different threads
/// can be printed separately.
static void Status(std::ostream &out = std::cout, bool merge = true)
{
Instance().status(out, merge);
}
/// @brief Print the status of the profiled code chunks and
/// events. Optionally, computation done by different threads
/// can be printed separately.
void status(std::ostream &out = std::cout, bool merge = true);
/// @brief Check if the profiler is counting time or not
bool running(void) const
{
return running_;
}
/// @brief Check if the profiler is counting time or not
static bool Running(void)
{
return Instance().running();
}
private:
/// @brief Information about time spent in a section of the code
struct HPP_FCL_DLLAPI TimeInfo
{
TimeInfo(void) : total(0, 0, 0, 0), shortest(boost::posix_time::pos_infin), longest(boost::posix_time::neg_infin), parts(0)
{
}
/// @brief Total time counted.
time::duration total;
/// @brief The shortest counted time interval
time::duration shortest;
/// @brief The longest counted time interval
time::duration longest;
/// @brief Number of times a chunk of time was added to this structure
unsigned long int parts;
/// @brief The point in time when counting time started
time::point start;
/// @brief Begin counting time
void set(void)
{
start = time::now();
}
/// @brief Add the counted time to the total time
void update(void)
{
const time::duration &dt = time::now() - start;
if (dt > longest)
longest = dt;
if (dt < shortest)
shortest = dt;
total = total + dt;
++parts;
}
};
/// @brief Information maintained about averaged values
struct HPP_FCL_DLLAPI AvgInfo
{
/// @brief The sum of the values to average
double total;
/// @brief The sub of squares of the values to average
double totalSqr;
/// @brief Number of times a value was added to this structure
unsigned long int parts;
};
/// @brief Information to be maintained for each thread
struct HPP_FCL_DLLAPI PerThread
{
/// @brief The stored events
std::map<std::string, unsigned long int> events;
/// @brief The stored averages
std::map<std::string, AvgInfo> avg;
/// @brief The amount of time spent in various places
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 hpp
{
namespace fcl
{
namespace tools
{
class HPP_FCL_DLLAPI Profiler
{
public:
class HPP_FCL_DLLAPI ScopedBlock
{
public:
ScopedBlock(const std::string &, Profiler & = Profiler::Instance())
{
}
~ScopedBlock(void)
{
}
};
class HPP_FCL_DLLAPI 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
} // namespace hpp
#endif
src/profile.cpp deleted 100644 → 0
View file @ b10dc7fb
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2008-2014, Willow Garage, Inc.
* Copyright (c) 2014-2015, Open Source Robotics Foundation
* 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 Open Source Robotics Foundation 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 */
#include <hpp/fcl/profile.h>
#if ENABLE_PROFILING
#include <vector>
#include <algorithm>
#include <sstream>
#endif
namespace hpp
{
fcl::tools::Profiler& fcl::tools::Profiler::Instance(void)
{
static Profiler p(true, false);
return p;
}
#if ENABLE_PROFILING
void fcl::tools::Profiler::start(void)
{
lock_.lock();
if (!running_)
{
tinfo_.set();
running_ = true;
}
lock_.unlock();
}
void fcl::tools::Profiler::stop(void)
{
lock_.lock();
if (running_)
{
tinfo_.update();
running_ = false;
}
lock_.unlock();
}
void fcl::tools::Profiler::clear(void)
{
lock_.lock();
data_.clear();
tinfo_ = TimeInfo();
if (running_)
tinfo_.set();
lock_.unlock();
}
void fcl::tools::Profiler::event(const std::string &name, const unsigned int times)
{
lock_.lock();
data_[boost::this_thread::get_id()].events[name] += times;
lock_.unlock();
}
void fcl::tools::Profiler::average(const std::string &name, const double value)
{
lock_.lock();
AvgInfo &a = data_[boost::this_thread::get_id()].avg[name];
a.total += value;
a.totalSqr += value*value;
a.parts++;
lock_.unlock();
}
void fcl::tools::Profiler::begin(const std::string &name)
{
lock_.lock();
data_[boost::this_thread::get_id()].time[name].set();
lock_.unlock();
}
void fcl::tools::Profiler::end(const std::string &name)
{
lock_.lock();
data_[boost::this_thread::get_id()].time[name].update();
lock_.unlock();
}
void fcl::tools::Profiler::status(std::ostream &out, bool merge)
{
stop();
lock_.lock();
printOnDestroy_ = false;
out << std::endl;
out << " *** Profiling statistics. Total counted time : " << time::seconds(tinfo_.total) << " seconds" << std::endl;
if (merge)
{
PerThread combined;
for (std::map<boost::thread::id, PerThread>::const_iterator it = data_.begin() ; it != data_.end() ; ++it)
{
for (std::map<std::string, unsigned long int>::const_iterator iev = it->second.events.begin() ; iev != it->second.events.end(); ++iev)