ClockCPUTime.hh

/*
 * Copyright 2010,
 *
 * Olivier Stasse
 *
 * JRL, CNRS/AIST
 *
 * This file is part of walkGenJrl.
 * walkGenJrl is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * walkGenJrl is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Lesser Public License for more details.
 * You should have received a copy of the GNU Lesser General Public License
 * along with walkGenJrl.  If not, see <http://www.gnu.org/licenses/>.
 *
 *  Research carried out within the scope of the
 *  Joint Japanese-French Robotics Laboratory (JRL)
 */
/* \file Class to measure CPU computation time  */

#ifndef _CLOCK_CPUTIME_PATTERN_GERENATOR_UTESTING_H_
# define _CLOCK_CPUTIME_PATTERN_GERENATOR_UTESTING_H_

# include "portability/gettimeofday.hh"

/* System includes */
#ifdef UNIX
# include <stdlib.h>
#endif /*UNIX*/

#ifdef WIN32
# include <Windows.h>
#endif /*WIN32*/

#include <time.h>
#include <ostream>
#include <vector>

#include "CommonTools.hh"

namespace PatternGeneratorJRL {

  namespace TestSuite {

    /*! \brief Clock class for computation timing */
    class ClockCPUTime
    {
    public:
      ClockCPUTime();
      ~ClockCPUTime();

      /*! \name Measure starting date */
      void startingDate();

      /*! \name Methods related to off-line trajectories generation
       @{ */
      void startPlanning();
      void endPlanning();
      /*! @} */

      /*! \name Methods related to on-line trajectories generation
	@{ */
      void startOneIteration();
      void stopOneIteration();
      /*! \brief Returns the date at which startOneIteration was called. */
      double getStartOneIteration();
      /*! @} */

      /*! \name Methods related to on-line modification
	@{ */
      void startModification();
      void stopModification();
      /*! @} */


      /*! \name Update data buffer regarding time statistics. */
      void fillInStatistics();

      /*! \brief Write buffers of timestamps and time consumtion
	in file aFileName */
      void writeBuffer(std::string &aFileName);

      /*! \brief Display mean time, max time, and nb of modifications. */
      void displayStatistics(std::ostream &os,
			     OneStep &aStep);

      /*! \brief Reset all counters */
      void Reset();

    private:

      /*! \brief Date at the measurement started,
	i.e. the global reference */
      struct timeval m_startingtime;

      /*! \brief Date at which current computation started */
      struct timeval m_begin;

      /*! \brief The time spend in planning. */
      double m_totaltimeinplanning;

      /*! \brief Current total time spend in one iteration. */
      double m_currenttime;

      /*! \brief Total time spend in handling iterations. */
      double m_totaltime;

      /*! \brief The time spend in handling modification. */
      double m_modificationtime;

      /*! \brief Total time spend in handling modification during the test. */
      double m_totalmodificationtime;

      /*! \brief Number of modification done. */
      unsigned long int m_nbofmodifs;

      /*! \brief Maximum time spend in one iteration */
      double m_maxtime;

      /*! \brief Current position of the circular buffer. */
      unsigned long int m_TimeProfileIndex;

      /*! \brief Limit of the circular buffer. */
      unsigned long int m_TimeProfileUpperLimit;

      /*! \brief The circular buffer for time consumption. */
      std::vector<double> m_TimeProfile;

      /*! \brief The circular buffer for time stamps. */
      std::vector<double> m_TimeProfileTS;

      /*! \brief Nb of iteration really computed */
      unsigned long int m_NbOfItToCompute;
    };
  }
}
#endif /* _CLOCK_CPUTIME_PATTERN_GERENATOR_UTESTING_H_ */