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 
62 void 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 }
void stopMonitor()
Stop the monitoring thread (automatically stopped by the destructor).
duration seconds(double sec)
Return the time duration representing a given number of seconds.
Definition: Time.h:76
void startMonitor()
Start the monitoring thread.
point now()
Get the current time point.
Definition: Time.h:70
std::chrono::system_clock::time_point point
Representation of a point in time.
Definition: Time.h:64
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:349