profiler.h

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#ifndef PROFILER_H
#define PROFILER_H
 
#include <ros/ros.h>
#include <mrs_msgs/ProfilerUpdate.h>
#include <mutex>
 
namespace mrs_lib
{
 
class Routine {
 
public:
  Routine(std::string name, std::string node_name, std::shared_ptr<ros::Publisher> publisher, std::shared_ptr<std::mutex> mutex_publisher,
          bool profiler_enabled);
  Routine(std::string name, std::string node_name, double expected_rate, double threshold, std::shared_ptr<ros::Publisher> publisher,
          std::shared_ptr<std::mutex> mutex_publisher, bool profiler_enabled, ros::TimerEvent event);
  ~Routine();
 
  void end(void);
 
private:
  std::string _routine_name_;
  std::string _node_name_;
 
  std::shared_ptr<ros::Publisher> publisher_;
  std::shared_ptr<std::mutex>     mutex_publisher_;
 
  // if periodic, those are the stats from the trigger event
  double _threshold_;
  long   iteration_ = 0;
 
  bool _profiler_enabled_ = false;
 
  // those are the stats from the execution of the routine
  ros::Time execution_start_;
 
  // this will be published
  mrs_msgs::ProfilerUpdate msg_out_;
};
 
class Profiler {
 
public:
  Profiler();
 
  Profiler(ros::NodeHandle& nh, std::string node_name, bool profiler_enabled);
 
  Profiler(const Profiler& other);
 
  Profiler& operator=(const Profiler& other);
 
  Routine createRoutine(std::string name, double expected_rate, double threshold, ros::TimerEvent event);
 
  Routine createRoutine(std::string name);
 
private:
  std::shared_ptr<ros::Publisher> publisher_;
  std::shared_ptr<std::mutex>     mutex_publisher_;
  std::string                     _node_name_;
  bool                            _profiler_enabled_ = false;
 
  std::shared_ptr<ros::NodeHandle> nh_;
 
  bool is_initialized_ = false;
};
 
}  // namespace mrs_lib
 
#endif