stop_watch.h
· 1.8 KiB · C
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#ifndef QTCONTROL_SRC_UTILS_STOPWATCH_H_
#define QTCONTROL_SRC_UTILS_STOPWATCH_H_
#include "chrono"
class StopWatch {
public:
static StopWatch& GetInstance() {
static StopWatch instance;
return instance;
}
using Clock = std::chrono::high_resolution_clock;
/**
* @brief 开始计时, 所有时间从开始
*/
void Start() {
if (!is_running_) {
start_time_ = Clock::now();
is_running_ = true;
}
}
/**
* @brief 暂时记时
*/
void Stop() {
if (is_running_) {
auto end_time = Clock::now();
elapsed_time_ +=
std::chrono::duration<double>(end_time - start_time_).count();
is_running_ = false;
}
}
double ElapsedTimeS() const {
if (is_running_) {
auto current_time = Clock::now();
return elapsed_time_ +
std::chrono::duration<double>(current_time - start_time_).count();
}
return elapsed_time_;
}
double ElapsedTimeMs() const { return ElapsedTimeS() * 1000.0; }
double ElapsedTimeUs() const { return ElapsedTimeS() * 1e6; }
void Reset() {
elapsed_time_ = 0.0;
is_running_ = false;
}
StopWatch(const StopWatch&) = delete;
StopWatch& operator=(const StopWatch&) = delete;
private:
StopWatch() = default;
double elapsed_time_; /* 累积的时间，单位为秒 */
Clock::time_point start_time_;
bool is_running_;
};
#endif // QTCONTROL_SRC_UTILS_STOPWATCH_H_
// main.cpp使用
auto& stop_watch = StopWatch::GetInstance();
/* 需要测试的代码段开始 */
stop_watch.Start();
float qd[2];
float torque[2];
float current[8];
const int test_times = 30000;
for (int i = 0; i < test_times; ++i) {
MotorCurrentInverse(qd, torque, current);
}
/* 需要测试的代码段结束 */
qDebug() << "MotorCurrentInverse avg_run time" << stop_watch.ElapsedTimeUs() / test_times << "us";
| 1 | |
| 2 | #ifndef QTCONTROL_SRC_UTILS_STOPWATCH_H_ |
| 3 | #define QTCONTROL_SRC_UTILS_STOPWATCH_H_ |
| 4 | #include "chrono" |
| 5 | |
| 6 | class StopWatch { |
| 7 | public: |
| 8 | static StopWatch& GetInstance() { |
| 9 | static StopWatch instance; |
| 10 | return instance; |
| 11 | } |
| 12 | using Clock = std::chrono::high_resolution_clock; |
| 13 | /** |
| 14 | * @brief 开始计时, 所有时间从开始 |
| 15 | */ |
| 16 | void Start() { |
| 17 | if (!is_running_) { |
| 18 | start_time_ = Clock::now(); |
| 19 | is_running_ = true; |
| 20 | } |
| 21 | } |
| 22 | /** |
| 23 | * @brief 暂时记时 |
| 24 | */ |
| 25 | void Stop() { |
| 26 | if (is_running_) { |
| 27 | auto end_time = Clock::now(); |
| 28 | elapsed_time_ += |
| 29 | std::chrono::duration<double>(end_time - start_time_).count(); |
| 30 | is_running_ = false; |
| 31 | } |
| 32 | } |
| 33 | |
| 34 | double ElapsedTimeS() const { |
| 35 | if (is_running_) { |
| 36 | auto current_time = Clock::now(); |
| 37 | return elapsed_time_ + |
| 38 | std::chrono::duration<double>(current_time - start_time_).count(); |
| 39 | } |
| 40 | return elapsed_time_; |
| 41 | } |
| 42 | |
| 43 | double ElapsedTimeMs() const { return ElapsedTimeS() * 1000.0; } |
| 44 | double ElapsedTimeUs() const { return ElapsedTimeS() * 1e6; } |
| 45 | void Reset() { |
| 46 | elapsed_time_ = 0.0; |
| 47 | is_running_ = false; |
| 48 | } |
| 49 | |
| 50 | StopWatch(const StopWatch&) = delete; |
| 51 | StopWatch& operator=(const StopWatch&) = delete; |
| 52 | |
| 53 | private: |
| 54 | StopWatch() = default; |
| 55 | double elapsed_time_; /* 累积的时间，单位为秒 */ |
| 56 | Clock::time_point start_time_; |
| 57 | bool is_running_; |
| 58 | }; |
| 59 | #endif // QTCONTROL_SRC_UTILS_STOPWATCH_H_ |
| 60 | |
| 61 | // main.cpp使用 |
| 62 | auto& stop_watch = StopWatch::GetInstance(); |
| 63 | /* 需要测试的代码段开始 */ |
| 64 | stop_watch.Start(); |
| 65 | float qd[2]; |
| 66 | float torque[2]; |
| 67 | float current[8]; |
| 68 | const int test_times = 30000; |
| 69 | for (int i = 0; i < test_times; ++i) { |
| 70 | MotorCurrentInverse(qd, torque, current); |
| 71 | } |
| 72 | /* 需要测试的代码段结束 */ |
| 73 | qDebug() << "MotorCurrentInverse avg_run time" << stop_watch.ElapsedTimeUs() / test_times << "us"; |
| 74 |