Added StopWatch pybind11 interface (#319)

Signed-off-by: ahcorde <[email protected]>

Co-authored-by: Louise Poubel <[email protected]>

src/python/CMakeLists.txt

@@ -114,7 +114,6 @@ if (PYTHONLIBS_FOUND)
       Sphere_TEST
       SphericalCoordinates_TEST
       Spline_TEST
-      StopWatch_TEST
       Temperature_TEST
       Triangle_TEST
       Triangle3_TEST

src/python_pybind11/CMakeLists.txt

@@ -19,6 +19,7 @@ if (${pybind11_FOUND})
     src/Helpers.cc
     src/Rand.cc
     src/RollingMean.cc
+    src/StopWatch.cc
   )
 
   target_link_libraries(math PRIVATE
@@ -77,6 +78,7 @@ if (${pybind11_FOUND})
       Line2_TEST
       Rand_TEST
       RollingMean_TEST
+      StopWatch_TEST
       Vector2_TEST
       Vector3_TEST
       Vector4_TEST

src/python_pybind11/src/StopWatch.cc

@@ -0,0 +1,77 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * 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.
+ *
+*/
+
+#include <pybind11/chrono.h>
+#include <pybind11/operators.h>
+#include <string>
+
+#include "StopWatch.hh"
+
+#include <ignition/math/Stopwatch.hh>
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+void defineMathStopwatch(py::module &m, const std::string &typestr)
+{
+  using Class = ignition::math::Stopwatch;
+  std::string pyclass_name = typestr;
+  py::class_<Class>(m,
+                    pyclass_name.c_str(),
+                    py::buffer_protocol(),
+                    py::dynamic_attr())
+  .def(py::init<>())
+  .def(py::self != py::self)
+  .def(py::self == py::self)
+  .def("start",
+        &Class::Start, py::arg("_reset") = false,
+        "Start the stopwatch.")
+   .def("start_time",
+        &Class::StartTime,
+        "Get the time when the stopwatch was started.")
+   .def("stop",
+        &Class::Stop,
+        "Stop the stopwatch")
+   .def("stop_time",
+        &Class::StopTime,
+        "Get the time when the stopwatch was last stopped.")
+   .def("running",
+        &Class::Running,
+        "Get whether the stopwatch is running.")
+   .def("reset",
+        &Class::Reset,
+        "Reset the stopwatch. This resets the start time, stop time "
+        "elapsed duration and elapsed stop duration.")
+   .def("elapsed_run_time",
+        &Class::ElapsedRunTime,
+        "Get the amount of time that the stop watch has been "
+        "running. This is the total amount of run time, spannning all start "
+        "and stop calls. The Reset function or passing true to the Start "
+        "function will reset this value.")
+   .def("elapsed_stop_time",
+        &Class::ElapsedStopTime,
+        "Get the amount of time that the stop watch has been "
+        "stopped. This is the total amount of stop time, spannning all start "
+        "and stop calls. The Reset function or passing true to the Start "
+        "function will reset this value.");
+}
+}  // namespace python
+}  // namespace math
+}  // namespace ignition

src/python_pybind11/src/StopWatch.hh

@@ -0,0 +1,42 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * 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 IGNITION_MATH_PYTHON__STOPWATCH_HH_
+#define IGNITION_MATH_PYTHON__STOPWATCH_HH_
+
+#include <pybind11/pybind11.h>
+#include <string>
+
+namespace py = pybind11;
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+/// Define a pybind11 wrapper for an ignition::math::Stopwatch
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ * \param[in] typestr name of the type used by Python
+ */
+void defineMathStopwatch(py::module &m, const std::string &typestr);
+}  // namespace python
+}  // namespace math
+}  // namespace ignition
+
+#endif  // IGNITION_MATH_PYTHON__STOPWATCH_HH_

src/python_pybind11/src/_ignition_math_pybind11.cc

@@ -20,6 +20,7 @@
 #include "Line2.hh"
 #include "Rand.hh"
 #include "RollingMean.hh"
+#include "StopWatch.hh"
 #include "Vector2.hh"
 #include "Vector3.hh"
 #include "Vector4.hh"
@@ -40,6 +41,8 @@ PYBIND11_MODULE(math, m)
 
   ignition::math::python::defineMathRollingMean(m, "RollingMean");
 
+  ignition::math::python::defineMathStopwatch(m, "Stopwatch");
+
   ignition::math::python::defineMathVector2<double>(m, "Vector2d");
   ignition::math::python::defineMathVector2<int>(m, "Vector2i");
   ignition::math::python::defineMathVector2<float>(m, "Vector2f");

src/python/StopWatch_TEST.py → src/python_pybind11/test/StopWatch_TEST.py

@@ -22,7 +22,7 @@
 class TestBox(unittest.TestCase):
     # Helper function that runs a few tests
     def runTimer(self, _time):
-        handleSteadyClock = 0
+        handleSteadyClock = timedelta(0)
 
         # Start the timer
         self.assertTrue(_time.start())
@@ -31,12 +31,12 @@ def runTimer(self, _time):
         # The start time should be greater than the stop time.
         self.assertGreater(_time.start_time(), _time.stop_time())
         # The elapsed stop time should still be zero.
-        self.assertEqual(0, _time.elapsed_stop_time())
+        self.assertEqual(timedelta(0), _time.elapsed_stop_time())
 
         # Wait for some time...
         time.sleep(1)
         # Now the elapsed time should be greater than or equal to the time slept.
-        self.assertGreaterEqual(_time.elapsed_run_time() + handleSteadyClock, 1000)
+        self.assertGreaterEqual(_time.elapsed_run_time() + handleSteadyClock, timedelta(seconds=1))
 
         # Stop the timer.
         self.assertTrue(_time.stop())
@@ -45,7 +45,7 @@ def runTimer(self, _time):
         # The stop time should be greater than the start time.
         self.assertGreater(_time.stop_time(), _time.start_time())
         # The elapsed time should still be greater than the time slept.
-        self.assertGreaterEqual(_time.elapsed_run_time() + handleSteadyClock, 1000)
+        self.assertGreaterEqual(_time.elapsed_run_time() + handleSteadyClock, timedelta(seconds=1))
 
         # Save the elapsed time.
         elapsedTime = _time.elapsed_run_time()
@@ -54,7 +54,7 @@ def runTimer(self, _time):
         time.sleep(1)
         # The elapsed stop time should be greater than or equal to the time
         # slept.
-        self.assertGreaterEqual(_time.elapsed_stop_time() + handleSteadyClock, 1000)
+        self.assertGreaterEqual(_time.elapsed_stop_time() + handleSteadyClock, timedelta(seconds=1))
         # The elapsed time should be the same.
         self.assertEqual(elapsedTime, _time.elapsed_run_time())
 
@@ -72,15 +72,15 @@ def runTimer(self, _time):
         self.assertGreater(_time.elapsed_run_time(), elapsedTime)
         # The elapsed time should be greater than or equal to the the previous
         # two sleep times.
-        self.assertGreaterEqual(_time.elapsed_run_time() + handleSteadyClock, 2000)
+        self.assertGreaterEqual(_time.elapsed_run_time() + handleSteadyClock, timedelta(seconds=2))
 
     def test_constructor(self):
         watch = Stopwatch()
 
         self.assertFalse(watch.running())
         self.assertEqual(watch.stop_time(), watch.start_time())
-        self.assertEqual(0, watch.elapsed_run_time())
-        self.assertEqual(0, watch.elapsed_stop_time())
+        self.assertEqual(timedelta(0), watch.elapsed_run_time())
+        self.assertEqual(timedelta(0), watch.elapsed_stop_time())
 
         self.runTimer(watch)
 
@@ -119,8 +119,8 @@ def test_start_stop_reset(self):
 
         self.assertFalse(watch.running())
         self.assertEqual(watch.stop_time(), watch.start_time())
-        self.assertEqual(0, watch.elapsed_run_time())
-        self.assertEqual(0, watch.elapsed_stop_time())
+        self.assertEqual(timedelta(0), watch.elapsed_run_time())
+        self.assertEqual(timedelta(0), watch.elapsed_stop_time())
 
         self.runTimer(watch)
 
@@ -129,8 +129,8 @@ def test_start_stop_reset(self):
         watch.start(True)
         self.assertTrue(watch.running())
         self.assertLess(watch.stop_time(), watch.start_time())
-        self.assertNotEqual(0, watch.elapsed_run_time())
-        self.assertEqual(0, watch.elapsed_stop_time())
+        self.assertNotEqual(timedelta(0), watch.elapsed_run_time())
+        self.assertEqual(timedelta(0), watch.elapsed_stop_time())
 
     def test_fail_start_stop(self):
         watch = Stopwatch()