Real-Time Robotics Framework

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tools:monitor:start

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tools:monitor:start [2020/06/26 13:16] – [Measuring a Single Block] ursgraftools:monitor:start [2020/08/12 09:59] – [How the Timer Works] ursgraf
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 It is often desirable to determine whether realtime performance criteria are met or how long a certain time domain takes to run. For this purpose each time domain as well as the safety system comprises of a dedicated timer. It is often desirable to determine whether realtime performance criteria are met or how long a certain time domain takes to run. For this purpose each time domain as well as the safety system comprises of a dedicated timer.
 ===== How the Timer Works ===== ===== How the Timer Works =====
-The timer function is included in every periodic object. It registers the system time each time the executor executes this particular task (//tick()//). When the task is done, the system time is registered again (//tock()//). The timer keeps track of the previous measurement and calculates the run time in between consecutive runs as well as period and jitter. +The timer is implemented in ''eeros::PeriodicFunction'' and is included in every periodic object. It registers the system time each time the executor executes this particular task (//tick()//). When the task is done, the system time is registered again (//tock()//). The timer keeps track of the previous measurement and calculates the run time in between consecutive runs as well as period and jitter. 
   * run time: tock() - tick()   * run time: tock() - tick()
   * period: tick()[t=n] - tick()[t=n-1]   * period: tick()[t=n] - tick()[t=n-1]
tools/monitor/start.txt · Last modified: 2020/08/12 10:02 by ursgraf