From 0476ae48be49690ef188701d3a4624e12ad1ec5a Mon Sep 17 00:00:00 2001
From: Raphael <ufdrv@student.kit.edu>
Date: Thu, 15 Jun 2017 16:05:03 +0200
Subject: [PATCH] move and rename the time measurement macro (RobotUnit.cpp ->
util.h) ( ARMARX_[VIRTUAL_]TIMER -> ARMARX_[VIRTUAL_]STOPWATCH )
---
.../components/units/RobotUnit/RobotUnit.cpp | 103 ++----------------
.../components/units/RobotUnit/util.h | 86 +++++++++++++++
2 files changed, 95 insertions(+), 94 deletions(-)
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnit.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnit.cpp
index d67a5fecd..5749f4e02 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnit.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnit.cpp
@@ -38,91 +38,6 @@
#include "Units/KinematicSubUnit.h"
#include "Units/PlatformSubUnit.h"
-
-namespace armarx
-{
- namespace detail
- {
- template<class TimeT = std::chrono::microseconds>
- struct TimerTag
- {
- //assume it is std::chrono
-
- using ClockT = std::chrono::high_resolution_clock;
- const ClockT::time_point beg;
-
- TimerTag() : beg {ClockT::now()} {}
-
- TimeT stop()
- {
- return std::chrono::duration_cast<TimeT>(ClockT::now() - beg);
- }
- };
-
- template<>
- struct TimerTag<TimestampVariant> : TimerTag<>
- {
- TimestampVariant stop()
- {
- return {TimerTag<std::chrono::microseconds>::stop().count()};
- }
- };
-
- template<>
- struct TimerTag<IceUtil::Time> : TimerTag<>
- {
- TimestampVariant stop()
- {
- return IceUtil::Time::microSeconds(TimerTag<std::chrono::microseconds>::stop().count());
- }
- };
-
- template <class Fun, class TimeT>
- TimeT operator*(TimerTag<TimeT>&& t, Fun&& fn)
- {
- fn();
- return t.stop();
- }
-
- //for virtual time
-
- template<class TimeT = IceUtil::Time>
- struct VirtualTimerTag;
-
- template<>
- struct VirtualTimerTag<TimestampVariant>
- {
- const IceUtil::Time beg;
- VirtualTimerTag() : beg {TimeUtil::GetTime()} {}
- TimestampVariant stop()
- {
- return {TimeUtil::GetTime() - beg};
- }
- };
-
- template<>
- struct VirtualTimerTag<IceUtil::Time>
- {
- const IceUtil::Time beg;
- VirtualTimerTag() : beg {TimeUtil::GetTime()} {}
- TimestampVariant stop()
- {
- return TimeUtil::GetTime() - beg;
- }
- };
-
- template <class Fun, class TimeT>
- TimeT operator*(VirtualTimerTag<TimeT>&& t, Fun&& fn)
- {
- fn();
- return t.stop();
- }
- }
-}
-#define ARMARX_TIMER(...) ::armarx::detail::TimerTag<__VA_ARGS__>{} *[&]
-#define ARMARX_VIRTUAL_TIMER(...) ::armarx::detail::VirtualTimerTag<__VA_ARGS__>{} *[&]
-
-
namespace std
{
std::string to_string(armarx::RobotUnitState s)
@@ -1226,7 +1141,7 @@ namespace armarx
//update units
debugObserverMap["publishTimings_UnitUpdate"] = new TimedVariant
{
- ARMARX_TIMER(TimestampVariant)
+ ARMARX_STOPWATCH(TimestampVariant)
{
ARMARX_DEBUG << deactivateSpam(spamdelay) << "updating units with new sensor values";
publishNewSensorDataTime = TimeUtil::GetTime();
@@ -1236,7 +1151,7 @@ namespace armarx
{
debugObserverMap["publishTimings_UnitUpdate_" + rsu->getName()] = new TimedVariant
{
- ARMARX_TIMER(TimestampVariant){rsu->update(sensorAndControlBuffer, activatedControllers);},
+ ARMARX_STOPWATCH(TimestampVariant){rsu->update(sensorAndControlBuffer, activatedControllers);},
timestamp
};
}
@@ -1248,7 +1163,7 @@ namespace armarx
debugObserverMap["publishTimings_SensorUpdates"] = new TimedVariant
{
- ARMARX_TIMER(TimestampVariant)
+ ARMARX_STOPWATCH(TimestampVariant)
{
for (std::size_t sensidx = 0 ; sensidx < numSensorDevices; ++sensidx)
{
@@ -1288,7 +1203,7 @@ namespace armarx
{
debugObserverMap["publishTimings_ControlUpdates"] = new TimedVariant
{
- ARMARX_TIMER(TimestampVariant)
+ ARMARX_STOPWATCH(TimestampVariant)
{
for (std::size_t ctrlidx = 0 ; ctrlidx < numControlDevices; ++ctrlidx)
{
@@ -1329,14 +1244,14 @@ namespace armarx
//call publish hook + publish LVL1Controller changes
debugObserverMap["publishTimings_LVL1Updates"] = new TimedVariant
{
- ARMARX_TIMER(TimestampVariant)
+ ARMARX_STOPWATCH(TimestampVariant)
{
for (const auto& pair : lvl1Controllers)
{
const LVL1ControllerPtr& lvl1 = pair.second;
debugObserverMap["publishTimings_LVL1Updates_" + lvl1->getInstanceName()] = new TimedVariant
{
- ARMARX_TIMER(TimestampVariant)
+ ARMARX_STOPWATCH(TimestampVariant)
{
//run some hook for active (used for visu)
PublishLVL1Controller(lvl1, sensorAndControlBuffer, debugDrawerPrx, debugObserverBatchPrx);
@@ -1359,7 +1274,7 @@ namespace armarx
//report new class names
debugObserverMap["publishTimings_ClassNameUpdates"] = new TimedVariant
{
- ARMARX_TIMER(TimestampVariant)
+ ARMARX_STOPWATCH(TimestampVariant)
{
const auto classNames = LVL1ControllerRegistry::getKeys();
if (lastReportedClasses.size() != classNames.size())
@@ -1376,14 +1291,14 @@ namespace armarx
},
timestamp
};
- debugObserverMap["publishTimings_RobotUnitListenerFlush"] = new TimedVariant {ARMARX_TIMER(TimestampVariant){listenerBatchPrx->ice_flushBatchRequests();}, timestamp};
+ debugObserverMap["publishTimings_RobotUnitListenerFlush"] = new TimedVariant {ARMARX_STOPWATCH(TimestampVariant){listenerBatchPrx->ice_flushBatchRequests();}, timestamp};
if (publishDebugObserver)
{
debugObserverMap["publishTimings_LastDebugObserverFlush"] = new TimedVariant {TimestampVariant{lastDebugObserverFlush.count()}, timestamp};
debugObserverMap["publishTimings_LastPublishLoop"] = new TimedVariant {TimestampVariant{lastPublishLoop.count()}, timestamp};
debugObserverBatchPrx->setDebugChannel(getName(), debugObserverMap);
- lastDebugObserverFlush = ARMARX_TIMER()
+ lastDebugObserverFlush = ARMARX_STOPWATCH()
{
debugObserverBatchPrx->ice_flushBatchRequests();
};
diff --git a/source/RobotAPI/components/units/RobotUnit/util.h b/source/RobotAPI/components/units/RobotUnit/util.h
index da93e8a7d..3e32ce7d4 100644
--- a/source/RobotAPI/components/units/RobotUnit/util.h
+++ b/source/RobotAPI/components/units/RobotUnit/util.h
@@ -23,6 +23,92 @@
#ifndef _ARMARX_UNIT_RobotAPI_RobotUnit_util_H
#define _ARMARX_UNIT_RobotAPI_RobotUnit_util_H
+#include <chrono>
+#include <ArmarXCore/core/time/TimeUtil.h>
+#include <ArmarXCore/observers/variant/TimestampVariant.h>
+namespace armarx
+{
+ namespace detail
+ {
+ template<class TimeT = std::chrono::microseconds>
+ struct TimerTag
+ {
+ //assume it is std::chrono
+
+ using ClockT = std::chrono::high_resolution_clock;
+ const ClockT::time_point beg;
+
+ TimerTag() : beg {ClockT::now()} {}
+
+ TimeT stop()
+ {
+ return std::chrono::duration_cast<TimeT>(ClockT::now() - beg);
+ }
+ };
+
+ template<>
+ struct TimerTag<TimestampVariant> : TimerTag<>
+ {
+ TimestampVariant stop()
+ {
+ return {TimerTag<std::chrono::microseconds>::stop().count()};
+ }
+ };
+
+ template<>
+ struct TimerTag<IceUtil::Time> : TimerTag<>
+ {
+ TimestampVariant stop()
+ {
+ return IceUtil::Time::microSeconds(TimerTag<std::chrono::microseconds>::stop().count());
+ }
+ };
+
+ template <class Fun, class TimeT>
+ TimeT operator*(TimerTag<TimeT>&& t, Fun&& fn)
+ {
+ fn();
+ return t.stop();
+ }
+
+ //for virtual time
+
+ template<class TimeT = IceUtil::Time>
+ struct VirtualTimerTag;
+
+ template<>
+ struct VirtualTimerTag<TimestampVariant>
+ {
+ const IceUtil::Time beg;
+ VirtualTimerTag() : beg {TimeUtil::GetTime()} {}
+ TimestampVariant stop()
+ {
+ return {TimeUtil::GetTime() - beg};
+ }
+ };
+
+ template<>
+ struct VirtualTimerTag<IceUtil::Time>
+ {
+ const IceUtil::Time beg;
+ VirtualTimerTag() : beg {TimeUtil::GetTime()} {}
+ TimestampVariant stop()
+ {
+ return TimeUtil::GetTime() - beg;
+ }
+ };
+
+ template <class Fun, class TimeT>
+ TimeT operator*(VirtualTimerTag<TimeT>&& t, Fun&& fn)
+ {
+ fn();
+ return t.stop();
+ }
+ }
+}
+#define ARMARX_STOPWATCH(...) ::armarx::detail::TimerTag<__VA_ARGS__>{} *[&]
+#define ARMARX_VIRTUAL_STOPWATCH(...) ::armarx::detail::VirtualTimerTag<__VA_ARGS__>{} *[&]
+
#include <boost/units/detail/utility.hpp>
#include <string>
namespace armarx
--
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