profiler.h

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#ifndef PROFILER_H
#define PROFILER_H
 
#include <rclcpp/rclcpp.hpp>
#include <mrs_msgs/msg/profiler_update.hpp>
#include <mrs_lib/publisher_handler.h>
 
namespace mrs_lib
{
 
class Routine {
 
public:
  Routine(const rclcpp::Node::SharedPtr& node, const std::string& name, const std::string& node_name,
          const std::shared_ptr<mrs_lib::PublisherHandler<mrs_msgs::msg::ProfilerUpdate>>& publisher, bool profiler_enabled);
  ~Routine();
 
  void end(void);
 
private:
  rclcpp::Node::SharedPtr node_;
 
  std::string _routine_name_;
  std::string _node_name_;
 
  std::shared_ptr<mrs_lib::PublisherHandler<mrs_msgs::msg::ProfilerUpdate>> publisher_;
 
  bool _profiler_enabled_ = false;
 
  // those are the stats from the execution of the routine
  rclcpp::Time execution_start_;
 
  // this will be published
  mrs_msgs::msg::ProfilerUpdate msg_out_;
};
 
class Profiler {
 
public:
  Profiler();
 
  Profiler(const rclcpp::Node::SharedPtr& node, const std::string& node_name, const bool profiler_enabled);
 
  Profiler(const Profiler& other);
 
  Profiler& operator=(const Profiler& other);
 
  Routine createRoutine(const std::string& name);
 
private:
  std::shared_ptr<mrs_lib::PublisherHandler<mrs_msgs::msg::ProfilerUpdate>> publisher_;
  std::string                                                               _node_name_;
  bool                                                                      _profiler_enabled_ = false;
 
  rclcpp::Node::SharedPtr node_;
 
  bool is_initialized_ = false;
};
 
}  // namespace mrs_lib
 
#endif