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[wpilibc] Output Tracer to DriverStation by default (#2469)

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This matches the Java behavior.

Also optimizes Java to only create a StringBuffer and call
DriverStation.reportWarning if there is data to output.
This commit is contained in:
Peter Johnson
2020-04-05 23:09:21 -07:00
committed by GitHub
parent cb51029335
commit b46b5df16a
3 changed files with 32 additions and 10 deletions
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21
wpilibc/src/main/native/cpp/Tracer.cpp
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@@ -8,8 +8,11 @@
#include "frc/Tracer.h" #include "frc/Tracer.h"
#include <wpi/Format.h> #include <wpi/Format.h>
#include <wpi/SmallString.h>
#include <wpi/raw_ostream.h> #include <wpi/raw_ostream.h>
#include "frc/DriverStation.h"
using namespace frc; using namespace frc;
Tracer::Tracer() { ResetTimer(); } Tracer::Tracer() { ResetTimer(); }
@@ -28,6 +31,13 @@ void Tracer::AddEpoch(wpi::StringRef epochName) {
} }
void Tracer::PrintEpochs() { void Tracer::PrintEpochs() {
wpi::SmallString<128> buf;
wpi::raw_svector_ostream os(buf);
PrintEpochs(os);
if (!buf.empty()) DriverStation::ReportWarning(buf);
}
void Tracer::PrintEpochs(wpi::raw_ostream& os) {
using std::chrono::duration_cast; using std::chrono::duration_cast;
using std::chrono::microseconds; using std::chrono::microseconds;
@@ -35,12 +45,11 @@ void Tracer::PrintEpochs() {
if (now - m_lastEpochsPrintTime > kMinPrintPeriod) { if (now - m_lastEpochsPrintTime > kMinPrintPeriod) {
m_lastEpochsPrintTime = now; m_lastEpochsPrintTime = now;
for (const auto& epoch : m_epochs) { for (const auto& epoch : m_epochs) {
wpi::outs() << '\t' << epoch.getKey() << ": " os << '\t' << epoch.getKey() << ": "
<< wpi::format( << wpi::format(
"%.6f", "%.6f",
duration_cast<microseconds>(epoch.getValue()).count() / duration_cast<microseconds>(epoch.getValue()).count() / 1.0e6)
1.0e6) << "s\n";
<< "s\n";
} }
} }
} }

13
wpilibc/src/main/native/include/frc/Tracer.h
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@@ -14,6 +14,10 @@
#include <wpi/StringMap.h> #include <wpi/StringMap.h>
#include <wpi/StringRef.h> #include <wpi/StringRef.h>
namespace wpi {
class raw_ostream;
} // namespace wpi
namespace frc { namespace frc {
/** /**
* A class for keeping track of how much time it takes for different parts of * A class for keeping track of how much time it takes for different parts of
@@ -51,10 +55,17 @@ class Tracer {
void AddEpoch(wpi::StringRef epochName); void AddEpoch(wpi::StringRef epochName);
/** /**
* Prints list of epochs added so far and their times. * Prints list of epochs added so far and their times to the DriverStation.
*/ */
void PrintEpochs(); void PrintEpochs();
/**
* Prints list of epochs added so far and their times to a stream.
*
* @param os output stream
*/
void PrintEpochs(wpi::raw_ostream& os);
private: private:
static constexpr std::chrono::milliseconds kMinPrintPeriod{1000}; static constexpr std::chrono::milliseconds kMinPrintPeriod{1000};

8
wpilibj/src/main/java/edu/wpi/first/wpilibj/Tracer.java
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@@ -83,13 +83,15 @@ public class Tracer {
*/ */
public void printEpochs(Consumer<String> output) { public void printEpochs(Consumer<String> output) {
long now = RobotController.getFPGATime(); long now = RobotController.getFPGATime();
StringBuilder sb = new StringBuilder(); if (now - m_lastEpochsPrintTime > kMinPrintPeriod) {
if (now - m_lastEpochsPrintTime > kMinPrintPeriod) { StringBuilder sb = new StringBuilder();
m_lastEpochsPrintTime = now; m_lastEpochsPrintTime = now;
m_epochs.forEach((key, value) -> { m_epochs.forEach((key, value) -> {
sb.append(String.format("\t%s: %.6fs\n", key, value / 1.0e6)); sb.append(String.format("\t%s: %.6fs\n", key, value / 1.0e6));
}); });
if (sb.length() > 0) {
output.accept(sb.toString());
}
} }
output.accept(sb.toString());
} }
} }