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Added function GetThreadCpuTimeSeconds in common/time.h (#1267) 

This will be needed for measuring SLAM performance.
master
Susanne Pielawa 2018-07-13 00:11:31 +02:00 committed by Wally B. Feed
parent 5abd413310
commit dce713b442
2 changed files with 15 additions and 0 deletions
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12
cartographer/common/time.cc
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@ -16,8 +16,13 @@
#include "cartographer/common/time.h" #include "cartographer/common/time.h"
#include <time.h>
#include <cerrno>
#include <cstring>
#include <string> #include <string>
#include "glog/logging.h"
namespace cartographer { namespace cartographer {
namespace common { namespace common {
@ -50,5 +55,12 @@ common::Duration FromMilliseconds(const int64 milliseconds) {
std::chrono::milliseconds(milliseconds)); std::chrono::milliseconds(milliseconds));
} }
double GetThreadCpuTimeSeconds() {
struct timespec thread_cpu_time;
CHECK(clock_gettime(CLOCK_THREAD_CPUTIME_ID, &thread_cpu_time) == 0)
<< std::strerror(errno);
return thread_cpu_time.tv_sec + 1e-9 * thread_cpu_time.tv_nsec;
}
} // namespace common } // namespace common
} // namespace cartographer } // namespace cartographer

3
cartographer/common/time.h
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@ -60,6 +60,9 @@ int64 ToUniversal(Time time);
// For logging and unit tests, outputs the timestamp integer. // For logging and unit tests, outputs the timestamp integer.
std::ostream& operator<<(std::ostream& os, Time time); std::ostream& operator<<(std::ostream& os, Time time);
// CPU time consumed by the thread so far, in seconds.
double GetThreadCpuTimeSeconds();
} // namespace common } // namespace common
} // namespace cartographer } // namespace cartographer