Tools/Debugging/Stopwatch.h

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/** 
* @file Stopwatch.h
* Makros and for the Stopwatch
*
* @author <A href=mailto:juengel@informatik.hu-berlin.de>Matthias Jüngel</A>
*/

#ifdef NEWDEBUGGING
#include "Stopwatch2.h"
#else //NEWDEBUGGING
#ifndef __Stopwatch_h_
#define __Stopwatch_h_

#include "Tools/Debugging/Debugging.h"
#include "Platform/SystemCall.h"
#include "Platform/GTAssert.h"



/** 
* @class Stopwatch
* Provides IDs and names for different stopwatch tasks; makros
* are used to provide real stopwatch functionality with that.
*/
class Stopwatch
{
public:
  enum StopwatchEventID
  {
    imageProcessor,
      sensorDataProcessor,
      ballLocator,
      teamBallLocator,
      selfLocator,
      playersLocator,
      obstaclesLocator,
      behaviorControl,
      motionControl,
      soundControl,
      specialVision,
      perceptBehaviorControl,
      sensorBehaviorControl,
      headControl,
      collisionDetector,
      robotStateDetector,

      numberOfStopwatchEventIDs
  };
  
  static DebugKeyTable::debugKeyID getDebugKeyID(enum StopwatchEventID stopwatchEventID)
  {
    switch (stopwatchEventID) 
    {
   case imageProcessor: return DebugKeyTable::sendImageProcessorTime;
   case sensorDataProcessor: return DebugKeyTable::sendSensorDataProcessorTime;
   case ballLocator: return DebugKeyTable::sendBallLocatorTime;
   case teamBallLocator: return DebugKeyTable::sendTeamBallLocatorTime;
   case selfLocator: return DebugKeyTable::sendSelfLocatorTime;
   case playersLocator: return DebugKeyTable::sendPlayersLocatorTime;
   case obstaclesLocator: return DebugKeyTable::sendObstaclesLocatorTime;
   case behaviorControl: return DebugKeyTable::sendBehaviorControlTime;
    case motionControl: return DebugKeyTable::sendMotionControlTime;
    case soundControl: return DebugKeyTable::sendSoundControlTime;
    case specialVision: return DebugKeyTable::sendSpecialVisionTime;
    case perceptBehaviorControl: return DebugKeyTable::sendPerceptBehaviorControlTime;
    case sensorBehaviorControl: return DebugKeyTable::sendSensorBehaviorControlTime;
    case headControl: return DebugKeyTable::sendHeadControlTime;
    case collisionDetector: return DebugKeyTable::sendCollisionDetectorTime;
    case robotStateDetector: return DebugKeyTable::sendRobotStateDetectorTime;
    default: 
      {
        ASSERT(false);
        return (DebugKeyTable::debugKeyID)0;
      }
    }
  }
  
  static const char* getStopwatchEventIDName(enum StopwatchEventID stopwatchEventID)
  {
    switch (stopwatchEventID) 
    {
   case imageProcessor: return "imageProcessor";
   case sensorDataProcessor: return "sensorDataProcessor";
   case ballLocator: return "ballLocator";
   case teamBallLocator: return "teamBallLocator";
   case selfLocator: return "selfLocator";
   case playersLocator: return "playersLocator";
   case obstaclesLocator: return "obstaclesLocator";
   case behaviorControl: return "behaviorControl";
   case perceptBehaviorControl: return "perceptBehaviorControl";
   case sensorBehaviorControl: return "sensorBehaviorControl";
    case motionControl: return "motionControl";
    case soundControl: return "soundControl";
    case specialVision: return "specialVision";
    case headControl: return "headControl";
    case collisionDetector: return "collisionDetector";
    case robotStateDetector: return "robotStateDetector";
    default: return "check available stopwatchEventIDs";
    }
  }
};
#define NSTOP_TIME_ON_REQUEST(eventID, expression)
#define NSTOP_TIME(expression)

#ifdef NDEBUG

#define STOP_TIME_ON_REQUEST(eventID, expression) expression
#define STOP_TIME(expression) expression/**/

#else //NDEBUG

/**
* Stops the execution time of "expression"  if a DebugKey is set for the eventID.
* The start and stop times are sent as a idStopwatch message to RobotControl
*/

#define STOP_TIME_ON_REQUEST(eventID, expression) \
  if (getDebugKeyTable().isActive(Stopwatch::getDebugKeyID(Stopwatch::eventID))) \
{\
  unsigned long eventID##StartTime; \
  static unsigned long evendID##Counter = 0; \
  eventID##StartTime = SystemCall::getCurrentSystemTime();\
  expression \
  OUTPUT(idStopwatch, bin, (char) Stopwatch::eventID << eventID##StartTime << SystemCall::getCurrentSystemTime() << evendID##Counter++)\
}\
  else {expression}\


/** 
* Starts a StopWatch without an id.
*/
#define STOP_TIME(expression) \
{\
  unsigned long stopwatchStartTime = SystemCall::getCurrentSystemTime();\
  expression\
  OUTPUT(idText, text, "Stopwatch: " << SystemCall::getTimeSince(stopwatchStartTime) << "ms")\
}\

#endif //NDEBUG

#endif //Stopwatch_h

#endif //NEWDEBUGGING

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