| Directory: | ./ |
|---|---|
| File: | include/pinocchio/utils/timer.hpp |
| Date: | 2025-02-12 21:03:38 |
| Exec | Total | Coverage | |
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| Lines: | 21 | 28 | 75.0% |
| Branches: | 4 | 19 | 21.1% |
| Line | Branch | Exec | Source |
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| 1 | // | ||
| 2 | // Copyright (c) 2015-2019 CNRS INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #ifndef __pinocchio_utils_timer_hpp__ | ||
| 6 | #define __pinocchio_utils_timer_hpp__ | ||
| 7 | |||
| 8 | #ifdef WIN32 | ||
| 9 | #include <Windows.h> | ||
| 10 | #include <stdint.h> // portable: uint64_t MSVC: __int64 | ||
| 11 | |||
| 12 | int gettimeofday(struct timeval * tp, struct timezone * tzp) | ||
| 13 | { | ||
| 14 | // Note: some broken versions only have 8 trailing zero's, the correct epoch has 9 trailing zero's | ||
| 15 | // This magic number is the number of 100 nanosecond intervals since January 1, 1601 (UTC) | ||
| 16 | // until 00:00:00 January 1, 1970 | ||
| 17 | static const uint64_t EPOCH = ((uint64_t)116444736000000000ULL); | ||
| 18 | |||
| 19 | SYSTEMTIME system_time; | ||
| 20 | FILETIME file_time; | ||
| 21 | uint64_t time; | ||
| 22 | |||
| 23 | GetSystemTime(&system_time); | ||
| 24 | SystemTimeToFileTime(&system_time, &file_time); | ||
| 25 | time = ((uint64_t)file_time.dwLowDateTime); | ||
| 26 | time += ((uint64_t)file_time.dwHighDateTime) << 32; | ||
| 27 | |||
| 28 | tp->tv_sec = (long)((time - EPOCH) / 10000000L); | ||
| 29 | tp->tv_usec = (long)(system_time.wMilliseconds * 1000); | ||
| 30 | return 0; | ||
| 31 | } | ||
| 32 | #else | ||
| 33 | #include <sys/time.h> | ||
| 34 | #endif | ||
| 35 | #include <iostream> | ||
| 36 | #include <stack> | ||
| 37 | |||
| 38 | #define SMOOTH(s) for (size_t _smooth = 0; _smooth < s; ++_smooth) | ||
| 39 | |||
| 40 | /* Return the time spent in secs. */ | ||
| 41 | 16 | inline double operator-(const struct timeval & t1, const struct timeval & t0) | |
| 42 | { | ||
| 43 | /* TODO: double check the double conversion from long (on 64x). */ | ||
| 44 | 16 | return double(t1.tv_sec - t0.tv_sec) + 1e-6 * double(t1.tv_usec - t0.tv_usec); | |
| 45 | } | ||
| 46 | |||
| 47 | struct PinocchioTicToc | ||
| 48 | { | ||
| 49 | enum Unit | ||
| 50 | { | ||
| 51 | S = 1, | ||
| 52 | MS = 1000, | ||
| 53 | US = 1000000, | ||
| 54 | NS = 1000000000 | ||
| 55 | }; | ||
| 56 | Unit DEFAULT_UNIT; | ||
| 57 | |||
| 58 | 16 | static std::string unitName(Unit u) | |
| 59 | { | ||
| 60 |
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16 | switch (u) |
| 61 | { | ||
| 62 | ✗ | case S: | |
| 63 | ✗ | return "s"; | |
| 64 | ✗ | case MS: | |
| 65 | ✗ | return "ms"; | |
| 66 | 16 | case US: | |
| 67 |
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16 | return "us"; |
| 68 | ✗ | case NS: | |
| 69 | ✗ | return "ns"; | |
| 70 | } | ||
| 71 | ✗ | return ""; | |
| 72 | } | ||
| 73 | |||
| 74 | std::stack<struct timeval> stack; | ||
| 75 | mutable struct timeval t0; | ||
| 76 | |||
| 77 | 7 | PinocchioTicToc(Unit def = MS) | |
| 78 | 7 | : DEFAULT_UNIT(def) | |
| 79 | { | ||
| 80 | 7 | } | |
| 81 | |||
| 82 | 16 | inline void tic() | |
| 83 | { | ||
| 84 | 16 | stack.push(t0); | |
| 85 | 16 | gettimeofday(&(stack.top()), NULL); | |
| 86 | 16 | } | |
| 87 | |||
| 88 | inline double toc() | ||
| 89 | { | ||
| 90 | return toc(DEFAULT_UNIT); | ||
| 91 | }; | ||
| 92 | |||
| 93 | 16 | inline double toc(const Unit factor) | |
| 94 | { | ||
| 95 | 16 | gettimeofday(&t0, NULL); | |
| 96 | 16 | double dt = (t0 - stack.top()) * (double)factor; | |
| 97 | 16 | stack.pop(); | |
| 98 | 16 | return dt; | |
| 99 | } | ||
| 100 | |||
| 101 | 16 | inline void toc(std::ostream & os, double SMOOTH = 1) | |
| 102 | { | ||
| 103 |
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16 | os << toc(DEFAULT_UNIT) / SMOOTH << " " << unitName(DEFAULT_UNIT) << std::endl; |
| 104 | 16 | } | |
| 105 | }; | ||
| 106 | |||
| 107 | #endif // ifndef __pinocchio_utils_timer_hpp__ | ||
| 108 |