///////////////////////////////////////////////////////////////////////////
//
//   MOOS - Mission Oriented Operating Suite 
//  
//   A suit of Applications and Libraries for Mobile Robotics Research 
//   Copyright (C) 2001-2005 Massachusetts Institute of Technology and 
//   Oxford University. 
//    
//   This software was written by Paul Newman at MIT 2001-2002 and Oxford 
//   University 2003-2005. email: pnewman@robots.ox.ac.uk. 
//      
//   This file is part of a  MOOS Core Component. 
//        
//   This program 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 2 of the 
//   License, or (at your option) any later version. 
//          
//   This program 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 this program; if not, write to the Free Software 
//   Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 
//   02111-1307, USA. 
//
//////////////////////////    END_GPL    //////////////////////////////////

/*! \file MOOSTimeJournal.h */
#ifndef MOOSTimeJournalH
#define MOOSTimeJournalH
#include <fstream>
#include <map>
#include <string>

//this is a utility class to do time stamping. 
//
//Tick("LABEL");
//  DO YOUR CODE
//        TICK("LABEL2")
//            MORE CODE
//        Tock("LABLE2")
//Tock("LABEL")
//Dump();
//
//this will produce a pretty file of timings
//you can call NewLevel() to print an iteration seperator
//in the dump file. This an exerpt from a dump file
/*Level:4754
    Iterate              0.000 seconds
Level:4755
    Iterate              0.430 seconds
    ConstraintApplication 0.422 seconds
    EKF                  0.012 seconds
    EKF_UPD_1            0.006 seconds
    EKF_OBS              0.006 seconds    
    ConstraintSearch     0.003 seconds
Level:4756
    Iterate              0.041 seconds
Level:4757
    Iterate              0.000 seconds
*/

class CMOOSTimeJournal
{
public:

    CMOOSTimeJournal()
    {        
        m_nLevel = 0;
        m_nStack = 0;
    }

    ~CMOOSTimeJournal()
    {
        m_File.close();
    }

    void Open(const std::string & sFile)
    {
        m_File.open(sFile.c_str());
        m_nLevel = 0;
    }

    void Tick(const std::string & S)
    {
        m_T[S] = HPMOOSTime();
        m_nStack++;
    }

    void Tock(const std::string & S)
    {
        if(m_T.find(S)==m_T.end())
        {
            MOOSTrace("No such timer \"%s\"\n",S.c_str());
            return;
        }
        else
        {            
            std::string space(4*(m_nStack+1),' ');
            std::string R= MOOSFormat("%s%-40s %.3f seconds",space.c_str(),S.c_str(),HPMOOSTime()-m_T[S]);
            m_L.push_back(R);

            if(m_nStack>0)
                m_nStack--;

        }


    }

    void NewLevel(int nL=-1)
    {
        m_nLevel = nL>-1 ? nL:m_nLevel+1;
    }

    void Dump()
    {        
        m_File<<"Level:"<<m_nLevel<<std::endl;
        std::copy(m_L.rbegin(),m_L.rend(),std::ostream_iterator<std::string>(m_File,"\n"));
        m_File.flush();
        m_L.clear();
        m_T.clear();
    }

protected:    
    std::map<std::string, double> m_T;
    std::list<std::string> m_L;
    std::ofstream m_File;
    int m_nLevel;
    int m_nStack;

};


#endif