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include/basalt/utils/time_utils.hpp

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+/**
+BSD 3-Clause License
+
+This file is part of the Basalt project.
+https://gitlab.com/VladyslavUsenko/basalt.git
+
+Copyright (c) 2020-2021, Vladyslav Usenko and Nikolaus Demmel.
+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.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+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 PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#pragma once
+
+#include <chrono>
+#include <string>
+#include <unordered_map>
+#include <variant>
+#include <vector>
+
+#include <Eigen/Dense>
+
+namespace basalt {
+
+template <class Clock = std::chrono::high_resolution_clock>
+class Timer {
+ public:
+  /// start timer
+  Timer() : start_(Clock::now()) {}
+
+  /// return elapsed time in seconds
+  double elapsed() const {
+    return std::chrono::duration<double>(Clock::now() - start_).count();
+  }
+
+  /// return elapsed time in seconds and reset timer
+  double reset() {
+    const auto now = Clock::now();
+    const double elapsed = std::chrono::duration<double>(now - start_).count();
+    start_ = now;
+    return elapsed;
+  }
+
+ private:
+  std::chrono::time_point<Clock> start_;
+};
+
+template <class Scalar = double>
+struct assign_op {
+  void operator()(Scalar& lhs, const Scalar& rhs) { lhs = rhs; }
+};
+
+template <class Scalar = double>
+struct plus_assign_op {
+  void operator()(Scalar& lhs, const Scalar& rhs) { lhs += rhs; }
+};
+
+template <class T = Timer<>, class Assign = assign_op<>>
+class ScopedTimer {
+ public:
+  explicit ScopedTimer(double& dest) : dest_(dest) {}
+  ~ScopedTimer() { Assign()(dest_, timer_.elapsed()); }
+
+ private:
+  double& dest_;
+  T timer_;
+};
+
+using ScopedTimerAdd = ScopedTimer<Timer<>, plus_assign_op<>>;
+
+template <class F>
+void log_timing(double& time, F fun) {
+  Timer timer;
+  fun();
+  time = timer.elapsed();
+}
+
+template <class F>
+void log_timing_add(double& time, F fun) {
+  Timer timer;
+  fun();
+  time += timer.elapsed();
+}
+
+class ExecutionStats {
+ public:
+  struct Meta {
+    inline Meta& format(const std::string& s) {
+      format_ = s;
+      return *this;
+    }
+
+    // overwrite the meta data from another object
+    void set_meta(const Meta& other) { format_ = other.format_; }
+
+    std::variant<std::vector<double>, std::vector<Eigen::VectorXd>> data_;
+
+    std::string format_;
+  };
+
+  Meta& add(const std::string& name, double value);
+  Meta& add(const std::string& name, const Eigen::VectorXd& value);
+  Meta& add(const std::string& name, const Eigen::VectorXf& value);
+
+  void merge_all(const ExecutionStats& other);
+
+  void merge_sums(const ExecutionStats& other);
+
+  void print() const;
+
+  bool save_json(const std::string& path) const;
+
+ private:
+  std::unordered_map<std::string, Meta> stats_;
+  std::vector<std::string> order_;
+};
+
+}  // namespace basalt