tesseract-robotics · Levi-Armstrong · Sep 13, 2024 · Sep 13, 2024
diff --git a/tesseract_examples/src/basic_cartesian_example.cpp b/tesseract_examples/src/basic_cartesian_example.cpp
@@ -33,7 +33,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_examples/basic_cartesian_example.h>
 
-#include <tesseract_common/timer.h>
+#include <tesseract_common/stopwatch.h>
 
 #include <tesseract_collision/core/types.h>
 
@@ -278,7 +278,7 @@ bool BasicCartesianExample::run()
     plotter_->waitForInput("Hit Enter to solve for trajectory.");
 
   // Solve task
-  tesseract_common::Timer stopwatch;
+  tesseract_common::Stopwatch stopwatch;
   stopwatch.start();
   TaskComposerFuture::UPtr future = executor->run(*task, std::move(data));
   future->wait();

diff --git a/tesseract_examples/src/glass_upright_example.cpp b/tesseract_examples/src/glass_upright_example.cpp
@@ -42,7 +42,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_environment/commands/add_link_command.h>
 #include <tesseract_environment/utils.h>
 
-#include <tesseract_common/timer.h>
+#include <tesseract_common/stopwatch.h>
 
 #include <tesseract_command_language/profile_dictionary.h>
 #include <tesseract_command_language/composite_instruction.h>
@@ -268,7 +268,7 @@ bool GlassUprightExample::run()
     plotter_->waitForInput("Hit Enter to solve for trajectory.");
 
   // Solve process plan
-  tesseract_common::Timer stopwatch;
+  tesseract_common::Stopwatch stopwatch;
   stopwatch.start();
   TaskComposerFuture::UPtr future = executor->run(*task, std::move(data));
   future->wait();

diff --git a/tesseract_examples/src/puzzle_piece_auxillary_axes_example.cpp b/tesseract_examples/src/puzzle_piece_auxillary_axes_example.cpp
@@ -41,7 +41,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_environment/utils.h>
 
 #include <tesseract_common/resource_locator.h>
-#include <tesseract_common/timer.h>
+#include <tesseract_common/stopwatch.h>
 
 #include <tesseract_command_language/profile_dictionary.h>
 #include <tesseract_command_language/composite_instruction.h>
@@ -311,7 +311,7 @@ bool PuzzlePieceAuxillaryAxesExample::run()
   data->setData("profiles", profiles);
 
   // Solve task
-  tesseract_common::Timer stopwatch;
+  tesseract_common::Stopwatch stopwatch;
   stopwatch.start();
   TaskComposerFuture::UPtr future = executor->run(*task, std::move(data));
   future->wait();

diff --git a/tesseract_examples/src/puzzle_piece_example.cpp b/tesseract_examples/src/puzzle_piece_example.cpp
@@ -41,7 +41,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_environment/utils.h>
 
 #include <tesseract_common/resource_locator.h>
-#include <tesseract_common/timer.h>
+#include <tesseract_common/stopwatch.h>
 
 #include <tesseract_command_language/profile_dictionary.h>
 #include <tesseract_command_language/composite_instruction.h>
@@ -297,7 +297,7 @@ bool PuzzlePieceExample::run()
   data->setData("profiles", profiles);
 
   // Solve task
-  tesseract_common::Timer stopwatch;
+  tesseract_common::Stopwatch stopwatch;
   stopwatch.start();
   TaskComposerFuture::UPtr future = executor->run(*task, std::move(data));
   future->wait();

diff --git a/tesseract_task_composer/core/src/task_composer_graph.cpp b/tesseract_task_composer/core/src/task_composer_graph.cpp
@@ -36,7 +36,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <tesseract_common/serialization.h>
 #include <tesseract_common/plugin_info.h>
 #include <tesseract_common/yaml_utils.h>
-#include <tesseract_common/timer.h>
+#include <tesseract_common/stopwatch.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_context.h>
@@ -224,8 +224,8 @@ std::unique_ptr<TaskComposerNodeInfo> TaskComposerGraph::runImpl(TaskComposerCon
   if (terminals_.empty())
     throw std::runtime_error("TaskComposerGraph, with name '" + name_ + "' does not have terminals!");
 
-  tesseract_common::Timer timer;
-  timer.start();
+  tesseract_common::Stopwatch stopwatch;
+  stopwatch.start();
 
   TaskComposerFuture::UPtr future = executor.value().get().run(*this, context.data_storage, context.dotgraph);
   future->wait();
@@ -252,14 +252,14 @@ std::unique_ptr<TaskComposerNodeInfo> TaskComposerGraph::runImpl(TaskComposerCon
     auto node_info = context.task_infos.getInfo(terminals_[i]);
     if (node_info != nullptr)
     {
-      timer.stop();
+      stopwatch.stop();
       info->input_keys = input_keys_;
       info->output_keys = output_keys_;
       info->return_value = static_cast<int>(i);
       info->color = node_info->color;
       info->status_code = node_info->status_code;
       info->status_message = node_info->status_message;
-      info->elapsed_time = timer.elapsedSeconds();
+      info->elapsed_time = stopwatch.elapsedSeconds();
       return info;
     }
   }

diff --git a/tesseract_task_composer/core/src/task_composer_node.cpp b/tesseract_task_composer/core/src/task_composer_node.cpp
@@ -33,7 +33,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/uuid/uuid_serialize.hpp>
 #include <yaml-cpp/yaml.h>
 #include <tesseract_common/serialization.h>
-#include <tesseract_common/timer.h>
+#include <tesseract_common/stopwatch.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_context.h>
@@ -150,9 +150,9 @@ int TaskComposerNode::run(TaskComposerContext& context, OptionalTaskComposerExec
     return 0;
   }
 
-  tesseract_common::Timer timer;
+  tesseract_common::Stopwatch stopwatch;
   TaskComposerNodeInfo::UPtr results;
-  timer.start();
+  stopwatch.start();
   try
   {
     results = runImpl(context, executor);
@@ -165,11 +165,11 @@ int TaskComposerNode::run(TaskComposerContext& context, OptionalTaskComposerExec
     results->status_message = "Exception thrown: " + std::string(e.what());
     results->return_value = 0;
   }
-  timer.stop();
+  stopwatch.stop();
   results->input_keys = input_keys_;
   results->output_keys = output_keys_;
   results->start_time = start_time;
-  results->elapsed_time = timer.elapsedSeconds();
+  results->elapsed_time = stopwatch.elapsedSeconds();
 
   int value = results->return_value;
   assert(value >= 0);

diff --git a/tesseract_task_composer/core/src/task_composer_pipeline.cpp b/tesseract_task_composer/core/src/task_composer_pipeline.cpp
@@ -26,7 +26,7 @@
 
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
-#include <tesseract_common/timer.h>
+#include <tesseract_common/stopwatch.h>
 #include <tesseract_common/serialization.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
@@ -56,8 +56,8 @@ std::unique_ptr<TaskComposerNodeInfo> TaskComposerPipeline::runImpl(TaskComposer
   if (terminals_.empty())
     throw std::runtime_error("TaskComposerPipeline, with name '" + name_ + "' does not have terminals!");
 
-  tesseract_common::Timer timer;
-  timer.start();
+  tesseract_common::Stopwatch stopwatch;
+  stopwatch.start();
   boost::uuids::uuid root_node = getRootNode();
 
   if (root_node.is_nil())
@@ -70,13 +70,13 @@ std::unique_ptr<TaskComposerNodeInfo> TaskComposerPipeline::runImpl(TaskComposer
     auto node_info = context.task_infos.getInfo(terminals_[i]);
     if (node_info != nullptr)
     {
-      timer.stop();
+      stopwatch.stop();
       auto info = std::make_unique<TaskComposerNodeInfo>(*this);
       info->return_value = static_cast<int>(i);
       info->color = node_info->color;
       info->status_code = node_info->status_code;
       info->status_message = node_info->status_message;
-      info->elapsed_time = timer.elapsedSeconds();
+      info->elapsed_time = stopwatch.elapsedSeconds();
       return info;
     }
   }

diff --git a/tesseract_task_composer/core/src/task_composer_task.cpp b/tesseract_task_composer/core/src/task_composer_task.cpp
@@ -30,7 +30,6 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <yaml-cpp/yaml.h>
 #include <boost/serialization/base_object.hpp>
 #include <tesseract_common/serialization.h>
-#include <tesseract_common/timer.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>

diff --git a/tesseract_task_composer/taskflow/src/taskflow_task_composer_executor.cpp b/tesseract_task_composer/taskflow/src/taskflow_task_composer_executor.cpp
@@ -28,7 +28,7 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <tesseract_common/serialization.h>
 #include <tesseract_common/utils.h>
-#include <tesseract_common/timer.h>
+#include <tesseract_common/stopwatch.h>
 #include <taskflow/taskflow.hpp>
 #include <yaml-cpp/yaml.h>
 #include <boost/uuid/uuid.hpp>
@@ -53,8 +53,8 @@ tf::Task convertToTaskflow(const TaskComposerGraph& task_graph,
                            tf::Subflow* parent_sbf)
 {
   auto fn = [&task_graph, &task_context, &task_executor](tf::Subflow& subflow) {
-    tesseract_common::Timer timer;
-    timer.start();
+    tesseract_common::Stopwatch stopwatch;
+    stopwatch.start();
 
     // Node Info
     auto info = std::make_unique<TaskComposerNodeInfo>(task_graph);
@@ -112,8 +112,8 @@ tf::Task convertToTaskflow(const TaskComposerGraph& task_graph,
         tasks[pair.first].precede(tasks[e]);
     }
     subflow.join();
-    timer.stop();
-    info->elapsed_time = timer.elapsedSeconds();
+    stopwatch.stop();
+    info->elapsed_time = stopwatch.elapsedSeconds();
     task_context.task_infos.addInfo(std::move(info));
   };