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/** |
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* @file demo_realtime_check.cpp |
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* @author Maximilien Naveau (maximilien.naveau@gmail.com) |
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* license License BSD-3-Clause |
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* @copyright Copyright (c) 2019, New York University and Max Planck |
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* Gesellschaft. |
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* @date 2019-05-22 |
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* |
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* @brief Check the real time capbilites of a loop. |
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*/ |
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#include "real_time_tools/realtime_check.hpp" |
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#include "real_time_tools/thread.hpp" |
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#include "real_time_tools/timer.hpp" |
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/*! Real time thread that measure the spinning frequency and do some basic |
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* operation */ |
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THREAD_FUNCTION_RETURN_TYPE thread_function(void*) |
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{ |
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double freq = 1000.0; // 1kz |
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double switch_freq = 990; |
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real_time_tools::RealTimeCheck rc(freq, switch_freq); |
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int nb_iteration = 10000; |
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int a = 0; |
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printf("sleeping time is %f seconds", 1.0 / freq); |
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for (int i = 0; i < nb_iteration; ++i) |
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{ |
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rc.tick(); |
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a++; |
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real_time_tools::Timer::sleep_sec(1.0 / |
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freq); // microseconds, so in Ghz |
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} |
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printf("\n"); |
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rc.print(); |
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printf("\n"); |
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return THREAD_FUNCTION_RETURN_VALUE; |
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} |
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/*! Create a real time thread and measure the frequency of the thread. */ |
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int main(int, char* []) |
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{ |
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real_time_tools::RealTimeThread thread; |
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thread.create_realtime_thread(thread_function); |
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thread.join(); |
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} |
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/** |
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* \example demo_realtime_check.cpp |
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* This demos has for purpose to present the class |
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* real_time_tools::RealTimeCheck. This class |
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* measures the frequency of a loop and compares it with a threshold frequency. |
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* As demonstrated below, the class takes as input the desired frequency and |
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* the threshold frequency. |
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* |
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* In order to enable the measurement of the your loop one need to call the |
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* real_time_tools::RealTimeCheck::tick() function. |
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* |
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* Finally the statistical results can be displayed via the |
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* real_time_tools::RealTimeCheck::print() methods. |
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*/ |
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