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