StatsPublisher.cpp

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#include "profiling/StatsPublisher.h"
 
#include <ros/ros.h>
#include <code_profiler/Statistics.h>
 
// ----------------------------------------------------------------------------------------------------
 
StatsPublisher::StatsPublisher()
{
}
 
// ----------------------------------------------------------------------------------------------------
 
StatsPublisher::~StatsPublisher()
{
}
 
// ----------------------------------------------------------------------------------------------------
 
void StatsPublisher::initialize()
{
    ros::NodeHandle nh("~");
    pub_stats_ = nh.advertise<code_profiler::Statistics>("profiler_stats", 1);
}
 
// ----------------------------------------------------------------------------------------------------
 
void StatsPublisher::startTimer(const std::string& label)
{
    timers_[label].start();
    stack_.push(ScopeStat(label));
}
 
// ----------------------------------------------------------------------------------------------------
 
void StatsPublisher::stopTimer(const std::string& label)
{
    std::map<std::string, Timer>::iterator it = timers_.find(label);
    if (it == timers_.end())
    {
        std::cout << "code_profiler: no timer found for label '" << label << "'." << std::endl;
    }
    else
    {
        it->second.stop();
    }
 
    if (!stack_.empty())
    {
        stack_.top().timer.stop();
        stack_.pop();
    }
    else
    {
        std::cout << "code_profiler: stopTimer() called, but no timer is active." << std::endl;
    }
}
 
// ----------------------------------------------------------------------------------------------------
 
void StatsPublisher::publish() const
{
    if (pub_stats_.getTopic() == "")
    {
        std::cout << "code_profiler: StatsPublisher not initialzed." << std::endl;
        return;
    }
 
    code_profiler::Statistics msg;
    for(std::map<std::string, Timer>::const_iterator it = timers_.begin(); it != timers_.end(); ++it)
    {
        msg.labels.push_back(it->first);
        msg.time_secs.push_back(it->second.getElapsedTimeInSec());
    }
 
    pub_stats_.publish(msg);
}