Added some handy methods, and formatted cpp file using BORG style
Frank Dellaert
parent
8740e9d8fd
commit
194cae51ef
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@ -29,11 +29,10 @@
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#include <gtsam/base/timing.h>
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namespace gtsam {
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/* ************************************************************************* */
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namespace internal {
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GTSAM_EXPORT boost::shared_ptr<TimingOutline> timingRoot(new TimingOutline("Total", getTicTocID("Total")));
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GTSAM_EXPORT boost::shared_ptr<TimingOutline> timingRoot(
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new TimingOutline("Total", getTicTocID("Total")));
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GTSAM_EXPORT boost::weak_ptr<TimingOutline> timingCurrent(timingRoot);
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/* ************************************************************************* */
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@ -45,15 +44,15 @@ void TimingOutline::add(size_t usecs, size_t usecsWall) {
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t_ += usecs;
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tWall_ += usecsWall;
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tIt_ += usecs;
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t2_ += (double(usecs)/1000000.0)*(double(usecs)/1000000.0);
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++ n_;
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double secs = (double(usecs) / 1000000.0);
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t2_ += secs * secs;
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++n_;
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}
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/* ************************************************************************* */
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TimingOutline::TimingOutline(const std::string& label, size_t myId) :
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myId_(myId), t_(0), tWall_(0), t2_(0.0), tIt_(0), tMax_(0), tMin_(0), n_(0),
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myOrder_(0), lastChildOrder_(0), label_(label)
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{
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myId_(myId), t_(0), tWall_(0), t2_(0.0), tIt_(0), tMax_(0), tMin_(0), n_(0), myOrder_(
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0), lastChildOrder_(0), label_(label) {
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#ifdef GTSAM_USING_NEW_BOOST_TIMERS
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timer_.stop();
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#endif
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@ -67,7 +66,7 @@ size_t TimingOutline::time() const {
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time += child.second->time();
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hasChildren = true;
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}
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if(hasChildren)
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if (hasChildren)
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return time;
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else
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return t_;
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@ -77,9 +76,9 @@ size_t TimingOutline::time() const {
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void TimingOutline::print(const std::string& outline) const {
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std::string formattedLabel = label_;
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boost::replace_all(formattedLabel, "_", " ");
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std::cout << outline << "-" << formattedLabel << ": " << double(t_)/1000000.0 << " CPU (" <<
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n_ << " times, " << double(tWall_)/1000000.0 << " wall, " << double(time())/1000000.0 << " children, min: "
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<< double(tMin_)/1000000.0 << " max: " << double(tMax_)/1000000.0 << ")\n";
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std::cout << outline << "-" << formattedLabel << ": " << self() << " CPU ("
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<< n_ << " times, " << wall() << " wall, " << secs() << " children, min: "
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<< min() << " max: " << max() << ")\n";
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// Order children
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typedef FastMap<size_t, boost::shared_ptr<TimingOutline> > ChildOrder;
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ChildOrder childOrder;
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@ -95,39 +94,43 @@ void TimingOutline::print(const std::string& outline) const {
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std::cout.flush();
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}
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void TimingOutline::print2(const std::string& outline, const double parentTotal) const {
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void TimingOutline::print2(const std::string& outline,
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const double parentTotal) const {
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const int w1 = 24, w2 = 2, w3 = 6, w4 = 8, precision = 2;
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const double selfTotal = double(t_)/(1000000.0),
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selfMean = selfTotal/double(n_);
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const double childTotal = double(time())/(1000000.0);
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const double selfTotal = self(), selfMean = selfTotal / double(n_);
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const double childTotal = secs();
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// compute standard deviation
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const double selfStd = sqrt(t2_/double(n_) - selfMean*selfMean);
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const std::string label = outline + label_ + ": " ;
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const double selfStd = sqrt(t2_ / double(n_) - selfMean * selfMean);
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const std::string label = outline + label_ + ": ";
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if ( n_ == 0 ) {
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std::cout << label << std::fixed << std::setprecision(precision) << childTotal << " seconds" << std::endl;
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}
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else {
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std::cout << std::setw(w1+outline.length()) << label ;
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std::cout << std::setiosflags(std::ios::right) << std::setw(w2) << n_ << " (times), "
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<< std::setiosflags(std::ios::right) << std::fixed << std::setw(w3) << std::setprecision(precision) << selfMean << " (mean), "
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<< std::setiosflags(std::ios::right) << std::fixed << std::setw(w3) << std::setprecision(precision) << selfStd << " (std),"
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<< std::setiosflags(std::ios::right) << std::fixed << std::setw(w4) << std::setprecision(precision) << selfTotal << " (total),";
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if (n_ == 0) {
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std::cout << label << std::fixed << std::setprecision(precision)
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<< childTotal << " seconds" << std::endl;
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} else {
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std::cout << std::setw(w1 + outline.length()) << label;
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std::cout << std::setiosflags(std::ios::right) << std::setw(w2) << n_
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<< " (times), " << std::setiosflags(std::ios::right) << std::fixed
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<< std::setw(w3) << std::setprecision(precision) << selfMean
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<< " (mean), " << std::setiosflags(std::ios::right) << std::fixed
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<< std::setw(w3) << std::setprecision(precision) << selfStd << " (std),"
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<< std::setiosflags(std::ios::right) << std::fixed << std::setw(w4)
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<< std::setprecision(precision) << selfTotal << " (total),";
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if ( parentTotal > 0.0 )
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std::cout << std::setiosflags(std::ios::right) << std::fixed << std::setw(w3) << std::setprecision(precision) << 100.0*selfTotal/parentTotal << " (%)";
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if (parentTotal > 0.0)
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std::cout << std::setiosflags(std::ios::right) << std::fixed
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<< std::setw(w3) << std::setprecision(precision)
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<< 100.0 * selfTotal / parentTotal << " (%)";
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std::cout << std::endl;
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}
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BOOST_FOREACH(const ChildMap::value_type& child, children_) {
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std::string childOutline(outline);
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if ( n_ == 0 ) {
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if (n_ == 0) {
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child.second->print2(childOutline, childTotal);
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}
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else {
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} else {
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childOutline += " ";
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child.second->print2(childOutline, selfTotal);
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}
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@ -135,13 +138,14 @@ void TimingOutline::print2(const std::string& outline, const double parentTotal)
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}
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/* ************************************************************************* */
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const boost::shared_ptr<TimingOutline>& TimingOutline::child(size_t child, const std::string& label, const boost::weak_ptr<TimingOutline>& thisPtr) {
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const boost::shared_ptr<TimingOutline>& TimingOutline::child(size_t child,
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const std::string& label, const boost::weak_ptr<TimingOutline>& thisPtr) {
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assert(thisPtr.lock().get() == this);
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boost::shared_ptr<TimingOutline>& result = children_[child];
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if(!result) {
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if (!result) {
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// Create child if necessary
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result.reset(new TimingOutline(label, child));
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++ this->lastChildOrder_;
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++this->lastChildOrder_;
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result->myOrder_ = this->lastChildOrder_;
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result->parent_ = thisPtr;
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}
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@ -149,8 +153,7 @@ const boost::shared_ptr<TimingOutline>& TimingOutline::child(size_t child, const
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}
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/* ************************************************************************* */
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void TimingOutline::ticInternal()
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{
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void TimingOutline::ticInternal() {
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#ifdef GTSAM_USING_NEW_BOOST_TIMERS
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assert(timer_.is_stopped());
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timer_.start();
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@ -166,8 +169,7 @@ void TimingOutline::ticInternal()
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}
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/* ************************************************************************* */
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void TimingOutline::tocInternal()
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{
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void TimingOutline::tocInternal() {
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#ifdef GTSAM_USING_NEW_BOOST_TIMERS
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assert(!timer_.is_stopped());
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@ -190,7 +192,8 @@ void TimingOutline::tocInternal()
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#endif
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#ifdef GTSAM_USE_TBB
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size_t wallTime = size_t((tbb::tick_count::now() - tbbTimer_).seconds() * 1e6);
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size_t wallTime = size_t(
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(tbb::tick_count::now() - tbbTimer_).seconds() * 1e6);
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#endif
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add(cpuTime, wallTime);
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@ -198,9 +201,9 @@ void TimingOutline::tocInternal()
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/* ************************************************************************* */
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void TimingOutline::finishedIteration() {
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if(tIt_ > tMax_)
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if (tIt_ > tMax_)
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tMax_ = tIt_;
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if(tMin_ == 0 || tIt_ < tMin_)
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if (tMin_ == 0 || tIt_ < tMin_)
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tMin_ = tIt_;
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tIt_ = 0;
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BOOST_FOREACH(ChildMap::value_type& child, children_) {
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@ -208,56 +211,59 @@ void TimingOutline::finishedIteration() {
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}
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}
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/* ************************************************************************* */
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// Generate or retrieve a unique global ID number that will be used to look up tic_/toc statements
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size_t getTicTocID(const char *descriptionC) {
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const std::string description(descriptionC);
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// Global (static) map from strings to ID numbers and current next ID number
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static size_t nextId = 0;
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static gtsam::FastMap<std::string, size_t> idMap;
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/* ************************************************************************* */
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// Generate or retrieve a unique global ID number that will be used to look up tic_/toc statements
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size_t getTicTocID(const char *descriptionC) {
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const std::string description(descriptionC);
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// Global (static) map from strings to ID numbers and current next ID number
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static size_t nextId = 0;
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static gtsam::FastMap<std::string, size_t> idMap;
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// Retrieve or add this string
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gtsam::FastMap<std::string, size_t>::const_iterator it = idMap.find(description);
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if(it == idMap.end()) {
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it = idMap.insert(std::make_pair(description, nextId)).first;
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++ nextId;
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}
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// Return ID
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return it->second;
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}
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/* ************************************************************************* */
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void ticInternal(size_t id, const char *labelC) {
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const std::string label(labelC);
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if(ISDEBUG("timing-verbose"))
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std::cout << "gttic_(" << id << ", " << label << ")" << std::endl;
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boost::shared_ptr<TimingOutline> node = timingCurrent.lock()->child(id, label, timingCurrent);
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timingCurrent = node;
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node->ticInternal();
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}
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/* ************************************************************************* */
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void tocInternal(size_t id, const char *label) {
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if(ISDEBUG("timing-verbose"))
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std::cout << "gttoc(" << id << ", " << label << ")" << std::endl;
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boost::shared_ptr<TimingOutline> current(timingCurrent.lock());
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if(id != current->myId_) {
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timingRoot->print();
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throw std::invalid_argument(
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(boost::format("gtsam timing: Mismatched tic/toc: gttoc(\"%s\") called when last tic was \"%s\".") %
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label % current->label_).str());
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}
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if(!current->parent_.lock()) {
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timingRoot->print();
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throw std::invalid_argument(
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(boost::format("gtsam timing: Mismatched tic/toc: extra gttoc(\"%s\"), already at the root") %
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label).str());
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}
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current->tocInternal();
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timingCurrent = current->parent_;
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// Retrieve or add this string
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gtsam::FastMap<std::string, size_t>::const_iterator it = idMap.find(
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description);
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if (it == idMap.end()) {
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it = idMap.insert(std::make_pair(description, nextId)).first;
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++nextId;
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}
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// Return ID
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return it->second;
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}
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/* ************************************************************************* */
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void ticInternal(size_t id, const char *labelC) {
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const std::string label(labelC);
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if (ISDEBUG("timing-verbose"))
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std::cout << "gttic_(" << id << ", " << label << ")" << std::endl;
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boost::shared_ptr<TimingOutline> node = //
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timingCurrent.lock()->child(id, label, timingCurrent);
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timingCurrent = node;
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node->ticInternal();
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}
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/* ************************************************************************* */
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void tocInternal(size_t id, const char *label) {
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if (ISDEBUG("timing-verbose"))
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std::cout << "gttoc(" << id << ", " << label << ")" << std::endl;
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boost::shared_ptr<TimingOutline> current(timingCurrent.lock());
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if (id != current->myId_) {
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timingRoot->print();
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throw std::invalid_argument(
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(boost::format(
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"gtsam timing: Mismatched tic/toc: gttoc(\"%s\") called when last tic was \"%s\".")
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% label % current->label_).str());
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}
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if (!current->parent_.lock()) {
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timingRoot->print();
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throw std::invalid_argument(
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(boost::format(
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"gtsam timing: Mismatched tic/toc: extra gttoc(\"%s\"), already at the root")
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% label).str());
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}
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current->tocInternal();
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timingCurrent = current->parent_;
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}
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} // namespace internal
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} // namespace gtsam
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@ -129,12 +129,15 @@ namespace gtsam {
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GTSAM_EXPORT void ticInternal(size_t id, const char *label);
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GTSAM_EXPORT void tocInternal(size_t id, const char *label);
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/**
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* Timing Entry, arranged in a tree
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*/
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class GTSAM_EXPORT TimingOutline {
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protected:
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size_t myId_;
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size_t t_;
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size_t tWall_;
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double t2_ ; /* cache the \sum t_i^2 */
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double t2_ ; ///< cache the \sum t_i^2
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size_t tIt_;
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size_t tMax_;
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size_t tMin_;
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@ -142,9 +145,12 @@ namespace gtsam {
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size_t myOrder_;
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size_t lastChildOrder_;
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std::string label_;
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boost::weak_ptr<TimingOutline> parent_;
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// Tree structure
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boost::weak_ptr<TimingOutline> parent_; ///< parent pointer
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typedef FastMap<size_t, boost::shared_ptr<TimingOutline> > ChildMap;
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ChildMap children_;
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ChildMap children_; ///< subtrees
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#ifdef GTSAM_USING_NEW_BOOST_TIMERS
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boost::timer::cpu_timer timer_;
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#else
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@ -155,12 +161,21 @@ namespace gtsam {
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tbb::tick_count tbbTimer_;
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#endif
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void add(size_t usecs, size_t usecsWall);
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public:
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/// Constructor
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TimingOutline(const std::string& label, size_t myId);
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size_t time() const;
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size_t time() const; ///< time taken, including children
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double secs() const { return double(time()) / 1000000.0;} ///< time taken, in seconds, including children
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double self() const { return double(t_) / 1000000.0;} ///< self time only, in seconds
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double wall() const { return double(tWall_) / 1000000.0;} ///< wall time, in seconds
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double min() const { return double(tMin_) / 1000000.0;} ///< min time, in seconds
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double max() const { return double(tMax_) / 1000000.0;} ///< max time, in seconds
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double mean() const { return self() / double(n_); } ///< mean self time, in seconds
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void print(const std::string& outline = "") const;
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void print2(const std::string& outline = "", const double parentTotal = -1.0) const;
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const boost::shared_ptr<TimingOutline>& child(size_t child, const std::string& label, const boost::weak_ptr<TimingOutline>& thisPtr);
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const boost::shared_ptr<TimingOutline>&
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child(size_t child, const std::string& label, const boost::weak_ptr<TimingOutline>& thisPtr);
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void ticInternal();
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void tocInternal();
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void finishedIteration();
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@ -168,6 +183,9 @@ namespace gtsam {
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GTSAM_EXPORT friend void tocInternal(size_t id, const char *label);
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}; // \TimingOutline
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/**
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* No documentation
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*/
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class AutoTicToc {
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private:
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size_t id_;
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@ -188,28 +206,45 @@ namespace gtsam {
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// static variable is created for each tic/toc statement storing an integer ID, but the
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// integer ID is only looked up by string once when the static variable is initialized
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// as the program starts.
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// tic
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#define gttic_(label) \
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static const size_t label##_id_tic = ::gtsam::internal::getTicTocID(#label); \
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::gtsam::internal::AutoTicToc label##_obj = ::gtsam::internal::AutoTicToc(label##_id_tic, #label)
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// toc
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#define gttoc_(label) \
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label##_obj.stop()
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// tic
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#define longtic_(label) \
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static const size_t label##_id_tic = ::gtsam::internal::getTicTocID(#label); \
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::gtsam::internal::ticInternal(label##_id_tic, #label)
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// toc
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#define longtoc_(label) \
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static const size_t label##_id_toc = ::gtsam::internal::getTicTocID(#label); \
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::gtsam::internal::tocInternal(label##_id_toc, #label)
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// indicate iteration is finished
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inline void tictoc_finishedIteration_() {
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internal::timingRoot->finishedIteration(); }
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// print
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inline void tictoc_print_() {
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internal::timingRoot->print(); }
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/* print mean and standard deviation */
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// print mean and standard deviation
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inline void tictoc_print2_() {
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internal::timingRoot->print2(); }
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// get a node by label and assign it to variable
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#define tictoc_getNode(variable, label) \
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static const size_t label##_id_getnode = ::gtsam::internal::getTicTocID(#label); \
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const boost::shared_ptr<const internal::TimingOutline> variable = \
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internal::timingCurrent.lock()->child(label##_id_getnode, #label, internal::timingCurrent);
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// reset
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inline void tictoc_reset_() {
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internal::timingRoot.reset(new internal::TimingOutline("Total", internal::getTicTocID("Total")));
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internal::timingCurrent = internal::timingRoot; }
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