.. _program_listing_file_src_tap_architecture_profiler.cpp:

Program Listing for File profiler.cpp
=====================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_tap_architecture_profiler.cpp>` (``src/tap/architecture/profiler.cpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (c) 2020-2022 Advanced Robotics at the University of Washington <robomstr@uw.edu>
    *
    * This file is part of Taproot.
    *
    * Taproot is free software: you can redistribute it and/or modify
    * it under the terms of the GNU General Public License as published by
    * the Free Software Foundation, either version 3 of the License, or
    * (at your option) any later version.
    *
    * Taproot is distributed in the hope that it will be useful,
    * but WITHOUT ANY WARRANTY; without even the implied warranty of
    * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    * GNU General Public License for more details.
    *
    * You should have received a copy of the GNU General Public License
    * along with Taproot.  If not, see <https://www.gnu.org/licenses/>.
    */
   
   #include "profiler.hpp"
   
   #include "tap/drivers.hpp"
   #include "tap/errors/create_errors.hpp"
   
   #include "../algorithms/math_user_utils.hpp"
   
   #include "clock.hpp"
   
   namespace tap::arch
   {
   Profiler::Profiler(tap::Drivers *drivers) : drivers(drivers) {}
   
   std::size_t Profiler::push(const char *profile)
   {
       auto index = elementNameToIndexMap.find(profile);
       if (index != elementNameToIndexMap.end())
       {
           ProfilerData *data = &profiledElements[index->second];
           data->prevPushedTime = clock::getTimeMicroseconds();
           return index->second;
       }
       else if (!profiledElements.isFull())
       {
           profiledElements.append(ProfilerData(profile));
           std::size_t key = profiledElements.getSize() - 1;
           elementNameToIndexMap[profile] = key;
           profiledElements[key].prevPushedTime = clock::getTimeMicroseconds();
           return key;
       }
       else
       {
           RAISE_ERROR(drivers, "profiler full, no more additional profiling data allowed");
           return profiledElements.getSize();
       }
   }
   
   void Profiler::pop(std::size_t key)
   {
       if (key >= profiledElements.getSize())
       {
           RAISE_ERROR(drivers, "attempting to pop profile, but never pushed");
       }
       else
       {
           ProfilerData *data = &profiledElements[key];
           uint32_t dt = clock::getTimeMicroseconds() - data->prevPushedTime;
           data->max = std::max(dt, data->max);
           data->min = std::min(dt, data->min);
           data->avg = algorithms::lowPassFilter(data->avg, dt, AVG_LOW_PASS_ALPHA);
       }
   }
   
   }  // namespace tap::arch