tictoc.cpp

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// 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.
//
// 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
// HOLDER 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
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// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
#include "tictoc.h"
 
#include <algorithm>
#include <cstdio>
#include <cstdlib>
#include <limits>
#include <map>
#include <vector>
 
#include "misc.h"
#include "timeutil.h"
 
namespace g2o {
 
struct TicTocElement {
  double ticTime;    
  double totalTime;  
  int numCalls;      
  double minTime;
  double maxTime;
  double exponentialMovingAverage;  
  std::string algorithmPart;        
  bool clockIsRunning;
  TicTocElement()
      : ticTime(0.),
        totalTime(0.),
        numCalls(0),
        minTime(std::numeric_limits<double>::max()),
        maxTime(0.),
        exponentialMovingAverage(0.),
        clockIsRunning(true) {}
  bool operator<(const TicTocElement& other) const {
    return totalTime < other.totalTime;
  }
};
typedef std::map<std::string, TicTocElement> TicTocMap;
 
struct TicTocInitializer {
  TicTocMap tictocElements;
  bool enabled;
  TicTocInitializer() { enabled = getenv("G2O_ENABLE_TICTOC") != NULL; }
  ~TicTocInitializer() {
    if (!enabled) {
      return;
    }
 
    if (tictocElements.size() > 0) {
      int longestName = 0;
      // sort the elements according to the total time and print a table
      std::vector<TicTocElement> sortedElements;
      sortedElements.reserve(tictocElements.size());
      for (TicTocMap::const_iterator it = tictocElements.begin();
           it != tictocElements.end(); ++it) {
        if (it->second.numCalls == 0) continue;
        longestName = std::max(longestName, (int)it->first.size());
        sortedElements.push_back(it->second);
      }
      std::sort(sortedElements.begin(), sortedElements.end());
 
      longestName += 4;
 
      // now print the table to stdout
      printf("------------------------------------------\n");
      printf("|          TICTOC STATISTICS             |\n");
      printf("------------------------------------------\n");
      for (std::vector<TicTocElement>::const_iterator it =
               sortedElements.begin();
           it != sortedElements.end(); ++it) {
        double avgTime = it->totalTime / it->numCalls;
        printf("%s", it->algorithmPart.c_str());
        for (int i = it->algorithmPart.size(); i < longestName; ++i)
          putchar(' ');
        printf(
            "numCalls= %d\t total= %.4f\t avg= %.4f\t min= %.4f\t max= %.4f\t "
            "ema= %.4f\n",
            it->numCalls, it->totalTime, avgTime, it->minTime, it->maxTime,
            it->exponentialMovingAverage);
      }
      printf("------------------------------------------\n");
    }
  }
};
 
double tictoc(const char* algorithmPart) {
  static TicTocInitializer initializer;
  if (!initializer.enabled) return 0.;
 
  TicTocMap& tictocElements = initializer.tictocElements;
  static double alpha = cst(0.01);
  double now = get_monotonic_time();
 
  double dt = 0.;
  TicTocMap::iterator foundIt = tictocElements.find(algorithmPart);
  if (foundIt == tictocElements.end()) {
    // insert element
    TicTocElement e;
    e.ticTime = now;
    e.algorithmPart = algorithmPart;
    tictocElements[e.algorithmPart] = e;
  } else {
    if (foundIt->second.clockIsRunning) {
      dt = now - foundIt->second.ticTime;
      foundIt->second.totalTime += dt;
      foundIt->second.minTime = std::min(foundIt->second.minTime, dt);
      foundIt->second.maxTime = std::max(foundIt->second.maxTime, dt);
      if (foundIt->second.numCalls == 0)
        foundIt->second.exponentialMovingAverage = dt;
      else
        foundIt->second.exponentialMovingAverage =
            (1. - alpha) * foundIt->second.exponentialMovingAverage +
            alpha * dt;
      foundIt->second.numCalls++;
    } else {
      foundIt->second.ticTime = now;
    }
    foundIt->second.clockIsRunning = !foundIt->second.clockIsRunning;
  }
  return dt;
}
 
ScopedTictoc::ScopedTictoc(const char* algorithmPart)
    : _algorithmPart(algorithmPart) {
  tictoc(_algorithmPart.c_str());
}
 
ScopedTictoc::~ScopedTictoc() { tictoc(_algorithmPart.c_str()); }
 
}  // namespace g2o