Program Listing for File timing.h

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// Copyright (c) <2016>, <Nanyang Technological University> All rights reserved.

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:

// 1. Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.

// 2. Redistributions in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.

// 3. Neither the name of the copyright holder nor the names of its contributors
// may be used to endorse or promote products derived from this software without
// specific prior written permission.

// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.

#ifndef LIB_H
#define LIB_H
#include <stdio.h>
#include <math.h>
#include <cstdlib>
#include <ctime>
#include <iostream>
#include <string>
#include <ctime>
#include <ros/ros.h>
#include <chrono>
#include <dirent.h>
#include <time.h>
#include <sys/stat.h>
#include <sys/types.h>

using namespace std::chrono;

namespace Util{

class Timer
{
public:
    Timer()
    {
        tic();
    }
    double end()
    {
        duration = ( std::clock() - start ) / (double) CLOCKS_PER_SEC;
        start = std::clock();
        return duration;
    }
    void tic()
    {
        start = std::clock();
    }
    void toc(std::string section = " ")
    {
        end();
        printf("%s T: %g FPS: %gHz \r\n", section.c_str(), duration, 1/duration);
    }
    void hz(std::string section = " ")
    {
        ++num;
        duration = ( std::clock() - start ) / (double) CLOCKS_PER_SEC;

        if (duration >= 1.0)
        {
            printf("%s: %f Hz\n", section.c_str(), double(num)/duration);
            num = 0;
            tic();
        }
    }
private:
    std::clock_t start;
    double duration;
    unsigned int num;
};


class ROSTimer
{
public:
    ROSTimer()
    {
        ros::Time::init();
        tic();
    }
    double end()
    {
        duration = ros::Time::now().toSec() - start;
        start = ros::Time::now().toSec();
        return duration;
    }
    void tic()
    {
        start = ros::Time::now().toSec();
    }
    void toc(std::string section = " ")
    {
        end();
        printf("%s T: %g FPS: %gHz \r\n", section.c_str(), duration, 1/duration);
    }
    void hz(std::string section = " ")
    {
        ++num;
        duration = ros::Time::now().toSec() - start;

        if (duration >= 1.0)
        {
            printf("%s: %f Hz\n", section.c_str(), double(num)/duration);
            num = 0;
            tic();
        }
    }
private:
    double start;
    double duration;
    unsigned int num;
};

class CPPTimer
{
public:
    CPPTimer()
    {
        tic();
    }
    double end()
    {
        time_span = duration_cast<duration<double>> (high_resolution_clock::now() - start);
        tic();
        return time_span.count();
    }
    void tic()
    {
        start = high_resolution_clock::now();
    }
    void toc(std::string section = " ")
    {
        end();
        printf("%s T: %g FPS: %gHz \r\n", section.c_str(), time_span.count(), 1/(time_span.count()));
    }
    void hz(std::string section = " ")
    {
        ++num;
        time_span = duration_cast<duration<double>> (high_resolution_clock::now() - start);

        if (time_span.count() >= 1.0)
        {
            printf("%s: %f Hz\n", section.c_str(), double(num)/(time_span.count()));
            num = 0;
            tic();
        }
    }

private:
    high_resolution_clock::time_point start;
    duration<double> time_span;
    unsigned int num;
};

}
#endif