Diagnostics.hh

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/*
 * Copyright (C) 2012 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef _GAZEBO_UTIL_DIAGNOSTICMANAGER_HH_
#define _GAZEBO_UTIL_DIAGNOSTICMANAGER_HH_

#include <string>
#include <boost/filesystem.hpp>

#include "gazebo/gazebo_config.h"

#include "gazebo/common/UpdateInfo.hh"
#include "gazebo/common/SingletonT.hh"
#include "gazebo/common/Timer.hh"

#include "gazebo/util/UtilTypes.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace util
  {
    // Forward declare private data class
    class DiagnosticManagerPrivate;

    // Forward declare private data class
    class DiagnosticTimerPrivate;


#ifdef ENABLE_DIAGNOSTICS
    #define DIAG_TIMER_START(_name) \
    gazebo::util::DiagnosticManager::Instance()->StartTimer(_name);

    #define DIAG_TIMER_LAP(_name, _prefix) \
    gazebo::util::DiagnosticManager::Instance()->Lap(_name, _prefix);

    #define DIAG_TIMER_STOP(_name) \
    gazebo::util::DiagnosticManager::Instance()->StopTimer(_name);
#else
    #define DIAG_TIMER_START(_name) ((void) 0)
    #define DIAG_TIMER_LAP(_name, _prefix) ((void)0)
    #define DIAG_TIMER_STOP(_name) ((void) 0)
#endif

    class GZ_UTIL_VISIBLE DiagnosticManager :
      public SingletonT<DiagnosticManager>
    {
      private: DiagnosticManager();

      private: virtual ~DiagnosticManager();

      public: void Init(const std::string &_worldName);

      public: void Fini();

      public: void StartTimer(const std::string &_name);

      public: void StopTimer(const std::string &_name);

      public: void Lap(const std::string &_name, const std::string &_prefix);

      public: int TimerCount() const;

      public: common::Time Time(const int _index) const;

      public: common::Time Time(const std::string &_label) const;

      public: std::string Label(const int _index) const;

      public: boost::filesystem::path LogPath() const;

      private: void Update(const common::UpdateInfo &_info);

      private: void AddTime(const std::string &_name,
                   const common::Time &_wallTime,
                   const common::Time &_elapsedtime);

      // Singleton implementation
      private: friend class SingletonT<DiagnosticManager>;

      private: friend class DiagnosticTimer;

      private: std::unique_ptr<DiagnosticManagerPrivate> dataPtr;
    };

    class GZ_UTIL_VISIBLE DiagnosticTimer : public common::Timer
    {
      public: explicit DiagnosticTimer(const std::string &_name);

      public: virtual ~DiagnosticTimer();

      public: void Lap(const std::string &_prefix);

      // Documentation inherited
      public: virtual void Start();

      // Documentation inherited
      public: virtual void Stop();

      public: const std::string Name() const;

      public: void InsertData(const std::string &_name,
                              const common::Time &_time);

      private: std::unique_ptr<DiagnosticTimerPrivate> dataPtr;
    };
  }
}
#endif