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PlannerMonitor.cpp
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34
35/* Author Ioan Sucan */
36
37#include "ompl/tools/debug/PlannerMonitor.h"
38#include "ompl/util/Time.h"
39#include <limits>
40#include <functional>
41
43{
44 if (monitorThread_)
45 return;
46 shouldMonitor_ = true;
47 monitorThread_.reset(new std::thread([this]
48 {
49 threadFunction();
50 }));
51}
52
54{
55 if (!monitorThread_)
56 return;
57 shouldMonitor_ = false;
58 monitorThread_->join();
59 monitorThread_.reset();
60}
61
62void ompl::tools::PlannerMonitor::threadFunction()
63{
64 time::point startTime = time::now();
65 time::point lastOutputTime = startTime;
66
67 while (shouldMonitor_)
68 {
69 double timeSinceOutput = time::seconds(time::now() - lastOutputTime);
70 if (timeSinceOutput < period_)
71 {
72 std::this_thread::sleep_for(time::seconds(0.01));
73 continue;
74 }
75 out_.seekp(0);
76 out_ << "[T = " << static_cast<unsigned int>(time::seconds(time::now() - startTime) + 0.5) << " s]" << std::endl
77 << std::endl;
78 out_ << "Planner " << planner_->getName() << ":" << std::endl;
79 if (!planner_->isSetup())
80 {
81 out_ << "Not yet set up." << std::endl;
82 return;
83 }
84 const base::Planner::PlannerProgressProperties &props = planner_->getPlannerProgressProperties();
85 for (const auto &prop : props)
86 {
87 out_ << " \t * " << prop.first << " \t : " << prop.second() << std::endl;
88 }
89 out_ << std::endl;
90 out_.flush();
91 lastOutputTime = time::now();
92 std::this_thread::sleep_for(time::seconds(0.01));
93 }
94}
std::map< std::string, PlannerProgressProperty > PlannerProgressProperties
A dictionary which maps the name of a progress property to the function to be used for querying that ...
Definition: Planner.h:360
void startMonitor()
Start the monitoring thread.
void stopMonitor()
Stop the monitoring thread (automatically stopped by the destructor).
std::chrono::system_clock::time_point point
Representation of a point in time.
Definition: Time.h:52
point now()
Get the current time point.
Definition: Time.h:58
duration seconds(double sec)
Return the time duration representing a given number of seconds.
Definition: Time.h:64