ompl/tools/debug/src/PlannerMonitor.cpp
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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 }
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