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 <boost/bind.hpp>
41 
43 {
44  if (monitorThread_)
45  return;
46  shouldMonitor_ = true;
47  monitorThread_.reset(new boost::thread(boost::bind(&PlannerMonitor::threadFunction, this)));
48 }
49 
51 {
52  if (!monitorThread_)
53  return;
54  shouldMonitor_ = false;
55  monitorThread_->join();
56  monitorThread_.reset();
57 }
58 
59 void ompl::tools::PlannerMonitor::threadFunction()
60 {
61  time::point startTime = time::now();
62  time::point lastOutputTime = startTime;
63 
64  while (shouldMonitor_)
65  {
66  double timeSinceOutput = time::seconds(time::now() - lastOutputTime);
67  if (timeSinceOutput < period_)
68  {
69  boost::this_thread::sleep(time::seconds(0.01));
70  continue;
71  }
72  out_.seekp(0);
73  out_ << "[T = " << static_cast<unsigned int>(time::seconds(time::now() - startTime) + 0.5) << " s]" << std::endl << std::endl;
74  out_ << "Planner " << planner_->getName() << ":" << std::endl;
75  if (!planner_->isSetup())
76  {
77  out_ << "Not yet set up." << std::endl;
78  return;
79  }
80  const base::Planner::PlannerProgressProperties &props = planner_->getPlannerProgressProperties();
81  for (base::Planner::PlannerProgressProperties::const_iterator it = props.begin() ; it != props.end() ; ++it)
82  {
83  out_ << " \t * " << it->first << " \t : " << it->second() << std::endl;
84  }
85  out_ << std::endl;
86  out_.flush();
87  lastOutputTime = time::now();
88  boost::this_thread::sleep(time::seconds(0.01));
89  }
90 }
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:62
void startMonitor()
Start the monitoring thread.
boost::posix_time::ptime point
Representation of a point in time.
Definition: Time.h:50
point now()
Get the current time point.
Definition: Time.h:56
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:356