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// |
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// Copyright (c) 2015-2019 CNRS INRIA |
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// |
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#ifndef __pinocchio_utils_timer_hpp__ |
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#define __pinocchio_utils_timer_hpp__ |
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#ifdef WIN32 |
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#include <Windows.h> |
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#include <stdint.h> // portable: uint64_t MSVC: __int64 |
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int gettimeofday(struct timeval * tp, struct timezone * tzp) |
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{ |
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// Note: some broken versions only have 8 trailing zero's, the correct epoch has 9 trailing zero's |
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// This magic number is the number of 100 nanosecond intervals since January 1, 1601 (UTC) |
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// until 00:00:00 January 1, 1970 |
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static const uint64_t EPOCH = ((uint64_t)116444736000000000ULL); |
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SYSTEMTIME system_time; |
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FILETIME file_time; |
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uint64_t time; |
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GetSystemTime(&system_time); |
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SystemTimeToFileTime(&system_time, &file_time); |
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time = ((uint64_t)file_time.dwLowDateTime); |
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time += ((uint64_t)file_time.dwHighDateTime) << 32; |
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tp->tv_sec = (long)((time - EPOCH) / 10000000L); |
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tp->tv_usec = (long)(system_time.wMilliseconds * 1000); |
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return 0; |
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} |
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#else |
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#include <sys/time.h> |
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#endif |
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#include <iostream> |
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#include <stack> |
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#define SMOOTH(s) for (size_t _smooth = 0; _smooth < s; ++_smooth) |
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/* Return the time spent in secs. */ |
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inline double operator-(const struct timeval & t1, const struct timeval & t0) |
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{ |
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/* TODO: double check the double conversion from long (on 64x). */ |
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return double(t1.tv_sec - t0.tv_sec) + 1e-6 * double(t1.tv_usec - t0.tv_usec); |
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} |
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struct PinocchioTicToc |
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{ |
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enum Unit |
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{ |
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S = 1, |
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MS = 1000, |
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US = 1000000, |
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NS = 1000000000 |
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}; |
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Unit DEFAULT_UNIT; |
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static std::string unitName(Unit u) |
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{ |
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switch (u) |
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{ |
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case S: |
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return "s"; |
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case MS: |
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return "ms"; |
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case US: |
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return "us"; |
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case NS: |
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return "ns"; |
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} |
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return ""; |
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} |
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std::stack<struct timeval> stack; |
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mutable struct timeval t0; |
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PinocchioTicToc(Unit def = MS) |
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: DEFAULT_UNIT(def) |
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{ |
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} |
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inline void tic() |
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{ |
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stack.push(t0); |
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gettimeofday(&(stack.top()), NULL); |
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} |
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inline double toc() |
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{ |
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return toc(DEFAULT_UNIT); |
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}; |
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inline double toc(const Unit factor) |
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{ |
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gettimeofday(&t0, NULL); |
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double dt = (t0 - stack.top()) * (double)factor; |
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stack.pop(); |
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return dt; |
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} |
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inline void toc(std::ostream & os, double SMOOTH = 1) |
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{ |
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os << toc(DEFAULT_UNIT) / SMOOTH << " " << unitName(DEFAULT_UNIT) << std::endl; |
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} |
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}; |
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#endif // ifndef __pinocchio_utils_timer_hpp__ |
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