Real-Time Robotics Framework

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for_developers:timing_measurement

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for_developers:timing_measurement [2016/08/17 11:10] – [How the timer works] gehrigfor_developers:timing_measurement [2016/10/24 07:55] – [Implementation] graf
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   * jitter: |actual period - set period|   * jitter: |actual period - set period|
 Of these three measurements the minimal value, maximal value, mean value and the variance are calculated. Of these three measurements the minimal value, maximal value, mean value and the variance are calculated.
 +
 +Implementation in //Execurot.cpp//:
 +<code cpp>
 +...
 +loop {
 +    counter.tick();
 +    //code under test (list.run();)
 +    counter.tock();
 +}
 +...
 +</code>
  
 ===== Influence of the measurement on the real time performance of the system ===== ===== Influence of the measurement on the real time performance of the system =====
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 ===== Implementation ===== ===== Implementation =====
-To integrate the measurement, following code has to be integrated after a task is created and before the task is added to the //Executor//. Following example shows the integration of the measurement including creation and assignment to the executor of a control system:+To integrate the measurement, following code has to be integrated after a task is created and before the task is added to the //Executor//. The following example shows the integration of the measurement including creation and assignment to the executor of a control system:
 <code cpp> <code cpp>
 using namespace eeros::logger; using namespace eeros::logger;
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-eeros::task::Periodic td("control system",dt, timedomain);+eeros::task::Periodic per("control system",dt, timedomain);
  
-td.monitors.push_back([&](eeros::PeriodicCounter &c, Logger<LogWriter> &log) {+per.monitors.push_back([&](PeriodicCounter &c, Logger<LogWriter> &log) {
  static int ticks = 0; // mseconds   static int ticks = 0; // mseconds
   
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  // timing measurement (tictoc)  // timing measurement (tictoc)
- eeros::PeriodicCounter counter = c;+ PeriodicCounter counter = c;
  c.reset();  c.reset();
  std::cout << "CS: period max: " << setw(7)  << counter.period.max*1000  std::cout << "CS: period max: " << setw(7)  << counter.period.max*1000
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 }); });
  
-eeros::Executor::instance().add(td);+eeros::Executor::instance().add(per);
 </code> </code>