tracing.hpp

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// Copyright 2024 Intelligent Robotics Lab
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//   http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef YAETS__TRACING_HPP_
#define YAETS__TRACING_HPP_
 
#include <chrono>
#include <cstdint>
#include <string>
#include <mutex>
#include <queue>
#include <condition_variable>
#include <thread>
#include <atomic>
#include <unordered_map>
#include <memory>
#include <vector>
 
namespace yaets
{

#if defined(__GNUC__) || defined(__clang__)
    #define TRACE_EVENT(session) yaets::TraceGuard trace_guard(session, __PRETTY_FUNCTION__)
#elif defined(_MSC_VER)
    #define TRACE_EVENT(session) yaets::TraceGuard trace_guard(session, __FUNCSIG__)
#else
    #define TRACE_EVENT(session) yaets::TraceGuard trace_guard(session, __FUNCTION__)
#endif
 

#define SHARED_TRACE_INIT(session, id) \
  yaets::TraceRegistry::getInstance().registerTrace(id, session)

#define SHARED_TRACE_START(id) \
  yaets::TraceRegistry::getInstance().startTrace(id)

#define SHARED_TRACE_END(id) \
  yaets::TraceRegistry::getInstance().endTrace(id)
 

struct TraceEvent
{
  std::string trace_name;                  
  std::chrono::nanoseconds start_time;        
  std::chrono::nanoseconds end_time;          
};

class TraceSession
{
public:
  explicit TraceSession(const std::string & filename);

  ~TraceSession();

  void stop();

  void register_trace(
    const std::string & trace_name,
    const std::chrono::nanoseconds & start_time,
    const std::chrono::nanoseconds & end_time);
 
private:
  std::queue<TraceEvent> trace_queue;            
  std::mutex queue_mutex;                        
  std::condition_variable cv;                   
  std::thread consumer_thread;                   
  std::atomic<bool> running;                     
  std::string filename_;                         
  std::chrono::nanoseconds session_start_time_;  

  void trace_consumer();
};

class TraceGuard
{
public:
  TraceGuard(TraceSession & session, const std::string & trace_name);

  ~TraceGuard();

  std::chrono::nanoseconds get_start_time() const
  {
    return start_time_;
  }
 
private:
  TraceSession & session_;                    
  std::string trace_name_;                 
  std::chrono::nanoseconds start_time_;       
 
protected:
  std::string extract_trace_name(const std::string & function_signature);
};
 

class NamedSharedTrace
{
public:
  static const size_t TRACE_SIZE_INIT = 100;  

  NamedSharedTrace(TraceSession & session, const std::string & trace_name);

  void start();

  void end();
 
private:
  TraceSession & session_;                        
  std::string trace_name_;                        
  std::vector<std::chrono::nanoseconds> start_times_;  
 
  std::atomic<size_t> counter_push_;              
  std::atomic<size_t> counter_pop_;               
  size_t elements_;                               
  std::mutex trace_mutex_;
};
 

class TraceRegistry
{
public:
  static TraceRegistry & getInstance()
  {
    static TraceRegistry instance;
    return instance;
  }

  void registerTrace(const std::string & id, TraceSession & session);

  void startTrace(const std::string & id);

  void endTrace(const std::string & id);
 
private:
  std::unordered_map<std::string, std::unique_ptr<NamedSharedTrace>> traces_;
  std::mutex mutex_;  
 
  // Private constructors for singleton pattern
  TraceRegistry() = default;
  ~TraceRegistry() = default;
 
  // Disable copy construction and assignment
  TraceRegistry(const TraceRegistry &) = delete;
  TraceRegistry & operator=(const TraceRegistry &) = delete;
};
 
}  // namespace yaets
 
#endif  // YAETS__TRACING_HPP_