core: add timings solution

CMakeLists.txt

@@ -81,7 +81,7 @@ EXPORT_BOOST_DEFAULT_OPTIONS()
 IF(WIN32)
   ADD_PROJECT_DEPENDENCY(Boost REQUIRED COMPONENTS chrono thread date_time serialization)
 ELSE(WIN32)
-  ADD_PROJECT_DEPENDENCY(Boost REQUIRED serialization)
+  ADD_PROJECT_DEPENDENCY(Boost REQUIRED chrono serialization)
 ENDIF(WIN32)
 if (BUILD_PYTHON_INTERFACE)
   FINDPYTHON()
@@ -185,6 +185,7 @@ SET(${PROJECT_NAME}_HEADERS
   include/hpp/fcl/serialization/OBB.h
   include/hpp/fcl/serialization/RSS.h
   include/hpp/fcl/serialization/OBBRSS.h
+  include/hpp/fcl/timings.h
   )
 
 add_subdirectory(doc)

include/hpp/fcl/timings.h

+//
+// Copyright (c) 2021 INRIA
+//
+
+#ifndef HPP_FCL_TIMINGS_FWD_H
+#define HPP_FCL_TIMINGS_FWD_H
+
+#include <boost/chrono.hpp>
+
+#include "hpp/fcl/fwd.hh"
+
+namespace hpp { namespace fcl {
+
+  struct CPUTimes
+  {
+    FCL_REAL wall;
+    FCL_REAL user;
+    FCL_REAL system;
+    
+    CPUTimes()
+    : wall(0)
+    , user(0)
+    , system(0)
+    {}
+    
+    void clear()
+    {
+      wall = user = system = 0;
+    }
+    
+  };
+
+  namespace internal
+  {
+    inline void get_cpu_times(CPUTimes & current)
+    {
+      using namespace boost::chrono;
+      
+      process_real_cpu_clock::time_point wall = process_real_cpu_clock::now();
+      process_user_cpu_clock::time_point user = process_user_cpu_clock::now();
+      process_system_cpu_clock::time_point system = process_system_cpu_clock::now();
+      
+      current.wall = time_point_cast<nanoseconds>(wall).time_since_epoch().count()*1e-3;
+      current.user = time_point_cast<nanoseconds>(user).time_since_epoch().count()*1e-3;
+      current.system = time_point_cast<nanoseconds>(system).time_since_epoch().count()*1e-3;
+    }
+  }
+
+  struct Timer
+  {
+    
+    Timer()
+    {
+      start();
+    }
+    
+    CPUTimes elapsed() const
+    {
+      if(m_is_stopped)
+        return m_times;
+      
+      CPUTimes current;
+      internal::get_cpu_times(current);
+      current.wall -= m_times.wall;
+      current.user -= m_times.user;
+      current.system -= m_times.system;
+      return current;
+    }
+    
+    void start()
+    {
+      m_is_stopped = false;
+      internal::get_cpu_times(m_times);
+    }
+    
+    void stop()
+    {
+      if(m_is_stopped)
+        return;
+      m_is_stopped = true;
+      
+      CPUTimes current;
+      internal::get_cpu_times(current);
+      m_times.wall = (current.wall - m_times.wall);
+      m_times.user = (current.user - m_times.user);
+      m_times.system = (current.system - m_times.system);
+      
+    }
+    
+    void resume()
+    {
+      if(m_is_stopped)
+      {
+        CPUTimes current(m_times);
+        start();
+        m_times.wall   -= current.wall;
+        m_times.user   -= current.user;
+        m_times.system -= current.system;
+      }
+    }
+    
+    bool is_stopped() const
+    {
+      return m_is_stopped;
+    }
+    
+  protected:
+    
+    CPUTimes m_times;
+    bool m_is_stopped;
+  };
+
+}}
+
+#endif // ifndef HPP_FCL_TIMINGS_FWD_H