mirror of
https://github.com/wpilibsuite/allwpilib
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e944ae9aca
- Remove status return from HAL level (clock getting should never fail) - Remove 32-bit timestamp expand function - Make monotonic_clock.hpp (formerly fpga_clock.hpp) header-only and move to root hal include directory
86 lines
2.8 KiB
Java
86 lines
2.8 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package org.wpilib.system;
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import java.util.HashMap;
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import java.util.Map;
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import java.util.function.Consumer;
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import org.wpilib.driverstation.DriverStation;
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/**
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* A class for keeping track of how much time it takes for different parts of code to execute. This
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* is done with epochs, that are added by calls to {@link #addEpoch(String)}, and can be printed
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* with a call to {@link #printEpochs()}.
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*
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* <p>Epochs are a way to partition the time elapsed so that when overruns occur, one can determine
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* which parts of an operation consumed the most time.
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*/
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public class Tracer {
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private static final long kMinPrintPeriod = 1000000; // microseconds
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private long m_lastEpochsPrintTime; // microseconds
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private long m_startTime; // microseconds
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private final Map<String, Long> m_epochs = new HashMap<>(); // microseconds
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/** Tracer constructor. */
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public Tracer() {
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resetTimer();
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}
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/** Clears all epochs. */
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public void clearEpochs() {
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m_epochs.clear();
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resetTimer();
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}
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/** Restarts the epoch timer. */
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public final void resetTimer() {
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m_startTime = RobotController.getMonotonicTime();
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}
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/**
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* Adds time since last epoch to the list printed by printEpochs().
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*
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* <p>Epochs are a way to partition the time elapsed so that when overruns occur, one can
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* determine which parts of an operation consumed the most time.
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*
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* <p>This should be called immediately after execution has finished, with a call to this method
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* or {@link #resetTimer()} before execution.
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*
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* @param epochName The name to associate with the epoch.
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*/
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public void addEpoch(String epochName) {
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long currentTime = RobotController.getMonotonicTime();
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m_epochs.put(epochName, currentTime - m_startTime);
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m_startTime = currentTime;
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}
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/** Prints list of epochs added so far and their times to the DriverStation. */
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public void printEpochs() {
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printEpochs(out -> DriverStation.reportWarning(out, false));
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}
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/**
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* Prints list of epochs added so far and their times to the entered String consumer.
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*
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* <p>This overload can be useful for logging to a file, etc.
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*
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* @param output the stream that the output is sent to
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*/
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public void printEpochs(Consumer<String> output) {
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long now = RobotController.getMonotonicTime();
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if (now - m_lastEpochsPrintTime > kMinPrintPeriod) {
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StringBuilder sb = new StringBuilder();
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m_lastEpochsPrintTime = now;
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m_epochs.forEach(
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(key, value) -> sb.append(String.format("\t%s: %.6fs\n", key, value / 1.0e6)));
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if (sb.length() > 0) {
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output.accept(sb.toString());
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}
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}
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}
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}
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