modularization/src/detection/detection_localization_global_hdl/include/teaser/macros.h

/**
 * Copyright 2020, Massachusetts Institute of Technology,
 * Cambridge, MA 02139
 * All Rights Reserved
 * Authors: Jingnan Shi, et al. (see THANKS for the full author list)
 * See LICENSE for the license information
 */

#pragma once

#include <iostream>

#define TEASER_DEBUG_ERROR_VAR(x)                                                                  \
  do {                                                                                             \
    std::cerr << #x << " = " << x << std::endl;                                                    \
  } while (0)

#define TEASER_INFO_MSG(x)                                                                         \
  do {                                                                                             \
    std::cout << x;                                                                                \
  } while (0)

#define TEASER_INFO_MSG_THROTTLE(x, i, N)                                                          \
  do {                                                                                             \
    if (i % N == 0) {                                                                              \
      std::cout << x;                                                                              \
    }                                                                                              \
  } while (0)

#if defined(NDEBUG) && !defined(TEASER_DIAG_PRINT)
// Use NOOP to turn off the defined debug macros
#define TEASER_DEBUG_ERROR_MSG(x)                                                                  \
  do {                                                                                             \
  } while (0)
#define TEASER_DEBUG_INFO_MSG(x)                                                                   \
  do {                                                                                             \
  } while (0)
// Timing macros
#define TEASER_DEBUG_DECLARE_TIMING(s)                                                             \
  do {                                                                                             \
  } while (0)
#define TEASER_DEBUG_START_TIMING(s)                                                               \
  do {                                                                                             \
  } while (0)
#define TEASER_DEBUG_STOP_TIMING(s)                                                                \
  do {                                                                                             \
  } while (0)
#define TEASER_DEBUG_GET_TIMING(s)                                                                 \
  do {                                                                                             \
  } while (0)
#else
// Debug messages
#define TEASER_DEBUG_ERROR_MSG(x)                                                                  \
  do {                                                                                             \
    std::cerr << x << std::endl;                                                                   \
  } while (0)
#define TEASER_DEBUG_INFO_MSG(x)                                                                   \
  do {                                                                                             \
    std::cout << x << std::endl;                                                                   \
  } while (0)
// Timing macros
#define TEASER_DEBUG_DECLARE_TIMING(s) std::chrono::steady_clock clock_##s;
#define TEASER_DEBUG_START_TIMING(s) auto t_start_##s = clock_##s.now();
#define TEASER_DEBUG_STOP_TIMING(s)                                                                \
  auto t_end_##s = clock_##s.now();                                                                \
  std::chrono::duration<double, std::milli> diff_dur_##s = t_end_##s - t_start_##s;                \
  double diff_##s = diff_dur_##s.count();
#define TEASER_DEBUG_GET_TIMING(s)(double)(diff_##s / 1000.0)
#endif