142 lines
3.9 KiB
C++
142 lines
3.9 KiB
C++
/**
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BSD 3-Clause License
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This file is part of the Basalt project.
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https://gitlab.com/VladyslavUsenko/basalt.git
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Copyright (c) 2020-2021, Vladyslav Usenko and Nikolaus Demmel.
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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* Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#pragma once
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#include <chrono>
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#include <string>
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#include <unordered_map>
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#include <variant>
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#include <vector>
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#include <Eigen/Dense>
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namespace basalt {
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template <class Clock = std::chrono::high_resolution_clock>
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class Timer {
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public:
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/// start timer
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Timer() : start_(Clock::now()) {}
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/// return elapsed time in seconds
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double elapsed() const {
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return std::chrono::duration<double>(Clock::now() - start_).count();
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}
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/// return elapsed time in seconds and reset timer
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double reset() {
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const auto now = Clock::now();
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const double elapsed = std::chrono::duration<double>(now - start_).count();
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start_ = now;
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return elapsed;
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}
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private:
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std::chrono::time_point<Clock> start_;
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};
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template <class Scalar = double>
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struct assign_op {
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void operator()(Scalar& lhs, const Scalar& rhs) { lhs = rhs; }
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};
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template <class Scalar = double>
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struct plus_assign_op {
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void operator()(Scalar& lhs, const Scalar& rhs) { lhs += rhs; }
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};
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template <class T = Timer<>, class Assign = assign_op<>>
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class ScopedTimer {
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public:
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explicit ScopedTimer(double& dest) : dest_(dest) {}
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~ScopedTimer() { Assign()(dest_, timer_.elapsed()); }
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private:
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double& dest_;
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T timer_;
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};
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using ScopedTimerAdd = ScopedTimer<Timer<>, plus_assign_op<>>;
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template <class F>
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void log_timing(double& time, F fun) {
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Timer timer;
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fun();
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time = timer.elapsed();
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}
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template <class F>
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void log_timing_add(double& time, F fun) {
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Timer timer;
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fun();
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time += timer.elapsed();
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}
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class ExecutionStats {
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public:
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struct Meta {
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inline Meta& format(const std::string& s) {
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format_ = s;
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return *this;
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}
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// overwrite the meta data from another object
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void set_meta(const Meta& other) { format_ = other.format_; }
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std::variant<std::vector<double>, std::vector<Eigen::VectorXd>> data_;
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std::string format_;
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};
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Meta& add(const std::string& name, double value);
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Meta& add(const std::string& name, const Eigen::VectorXd& value);
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Meta& add(const std::string& name, const Eigen::VectorXf& value);
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void merge_all(const ExecutionStats& other);
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void merge_sums(const ExecutionStats& other);
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void print() const;
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bool save_json(const std::string& path) const;
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private:
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std::unordered_map<std::string, Meta> stats_;
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std::vector<std::string> order_;
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};
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} // namespace basalt
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