RtTiming.h
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1 /*
2  * This file is part of ArmarX.
3  *
4  * Copyright (C) 2011-2017, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
5  *
6  * ArmarX is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License version 2 as
8  * published by the Free Software Foundation.
9  *
10  * ArmarX is distributed in the hope that it will be useful, but
11  * WITHOUT ANY WARRANTY; without even the implied warranty of
12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13  * GNU General Public License for more details.
14  *
15  * You should have received a copy of the GNU General Public License
16  * along with this program. If not, see <http://www.gnu.org/licenses/>.
17  *
18  * @package ArmarX
19  * @author Mirko Waechter( mirko.waechter at kit dot edu)
20  * @date 2018
21  * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
22  * GNU General Public License
23  */
24 #pragma once
25 
26 #include <time.h>
27 
28 #include <IceUtil/Time.h>
29 
30 namespace armarx
31 {
32  namespace rt_timing::constants
33  {
34  inline constexpr const std::int64_t seconds2MicroSeconds = 1e6;
35 
36  static constexpr const std::int64_t nanoSeconds2MicroSeconds = 1000;
37  } // namespace rt_timing::constants
38 
39  inline IceUtil::Time
41  {
42  using namespace rt_timing::constants;
43  struct timespec ts;
44  clock_gettime(CLOCK_MONOTONIC_RAW, &ts);
45  return IceUtil::Time::microSeconds(ts.tv_sec * seconds2MicroSeconds +
46  ts.tv_nsec / nanoSeconds2MicroSeconds);
47  }
48 } // namespace armarx
49 
50 #define RT_TIMING_START(name) auto name = armarx::rtNow();
51 //! \ingroup VirtualTime
52 //! Prints duration with comment in front of it, yet only once per second.
53 #define RT_TIMING_END_COMMENT(name, comment) \
54  printf("%s - duration: %.3f ms \n", comment, (armarx::rtNow() - name).toMilliSecondsDouble());
55 //! \ingroup VirtualTime
56 //! Prints duration
57 #define RT_TIMING_END(name) RT_TIMING_END_COMMENT(name, #name)
58 //! \ingroup VirtualTime
59 //! Prints duration with comment in front of it if it took longer than threshold
60 #define RT_TIMING_CEND_COMMENT(name, comment, thresholdMs) \
61  if ((armarx::rtNow() - name).toMilliSecondsDouble() >= thresholdMs) \
62  RT_TIMING_END_COMMENT(name, comment)
63 //! \ingroup VirtualTime
64 //! Prints duration if it took longer than thresholdMs
65 #define RT_TIMING_CEND(name, thresholdMs) RT_TIMING_CEND_COMMENT(name, #name, thresholdMs)
armarx::rt_timing::constants::seconds2MicroSeconds
constexpr const std::int64_t seconds2MicroSeconds
Definition: RtTiming.h:34
armarx::armem::Time
armarx::core::time::DateTime Time
Definition: forward_declarations.h:13
armarx
This file offers overloads of toIce() and fromIce() functions for STL container types.
Definition: ArmarXTimeserver.cpp:28
armarx::rtNow
IceUtil::Time rtNow()
Definition: RtTiming.h:40