StatsPublisher.h

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#ifndef CODE_PROFILER_STATS_PUBLISHER_H_
#define CODE_PROFILER_STATS_PUBLISHER_H_
 
#include <string>
#include <map>
#include <stack>
#include <ros/publisher.h>
 
#include "profiling/Timer.h"
 
struct ScopeStat
{
 
    ScopeStat() {}
 
    ScopeStat(const std::string& name_) : name(name_) {}
 
    std::string name;
    Timer timer;
};
 
class StatsPublisher
{
 
public:
 
    StatsPublisher();
 
    virtual ~StatsPublisher();
 
    void initialize();
 
    void startTimer(const std::string& label);
 
    void stopTimer(const std::string& label);
 
    void publish() const;
 
protected:
 
    ros::Publisher pub_stats_;
 
    std::map<std::string, Timer> timers_;
 
    std::stack<ScopeStat> stack_;
 
 
 
 
};
 
#endif