ompl/tools/debug/src/PlannerMonitor.cpp
00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Rice University 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Rice University nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author Ioan Sucan */ 00036 00037 #include "ompl/tools/debug/PlannerMonitor.h" 00038 #include "ompl/util/Time.h" 00039 #include <limits> 00040 #include <boost/bind.hpp> 00041 00042 void ompl::tools::PlannerMonitor::startMonitor() 00043 { 00044 if (monitorThread_) 00045 return; 00046 shouldMonitor_ = true; 00047 monitorThread_.reset(new boost::thread(boost::bind(&PlannerMonitor::threadFunction, this))); 00048 } 00049 00050 void ompl::tools::PlannerMonitor::stopMonitor() 00051 { 00052 if (!monitorThread_) 00053 return; 00054 shouldMonitor_ = false; 00055 monitorThread_->join(); 00056 monitorThread_.reset(); 00057 } 00058 00059 void ompl::tools::PlannerMonitor::threadFunction() 00060 { 00061 time::point startTime = time::now(); 00062 time::point lastOutputTime = startTime; 00063 00064 while (shouldMonitor_) 00065 { 00066 double timeSinceOutput = time::seconds(time::now() - lastOutputTime); 00067 if (timeSinceOutput < period_) 00068 { 00069 boost::this_thread::sleep(time::seconds(0.01)); 00070 continue; 00071 } 00072 out_.seekp(0); 00073 out_ << "[T = " << static_cast<unsigned int>(time::seconds(time::now() - startTime) + 0.5) << " s]" << std::endl << std::endl; 00074 out_ << "Planner " << planner_->getName() << ":" << std::endl; 00075 if (!planner_->isSetup()) 00076 { 00077 out_ << "Not yet set up." << std::endl; 00078 return; 00079 } 00080 const base::Planner::PlannerProgressProperties &props = planner_->getPlannerProgressProperties(); 00081 for (base::Planner::PlannerProgressProperties::const_iterator it = props.begin() ; it != props.end() ; ++it) 00082 { 00083 out_ << " \t * " << it->first << " \t : " << it->second() << std::endl; 00084 } 00085 out_ << std::endl; 00086 out_.flush(); 00087 lastOutputTime = time::now(); 00088 boost::this_thread::sleep(time::seconds(0.01)); 00089 } 00090 }