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/** |
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* @file demo_realtime_strict_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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/** @brief define an alias for the clock */ |
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typedef std::chrono::high_resolution_clock my_clock; |
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/** @brief this function is executed in a real_time_thread. */ |
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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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int nb_iteration = 1000; |
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unsigned period = |
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static_cast<unsigned>(round((1.0 / freq) * pow(10.0, 9.0))); |
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my_clock::duration clock_period(period); |
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real_time_tools::RealTimeCheck rc(freq, switch_freq); |
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int a = 0; |
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my_clock::time_point start, stop, mid; |
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my_clock::duration sleep_duration_diff; |
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struct timespec sleep_duration, out_sleep; |
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printf("reference period is %ld\n", clock_period.count()); |
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for (int i = 0; i < nb_iteration; ++i) |
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{ |
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start = my_clock::now(); |
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rc.tick(); |
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a++; |
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// printf("%d %d", sleep_duration.tv_nsec, out_sleep.tv_nsec); |
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// printf("%ld ; %ld ; ", sleep_duration.tv_nsec, |
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// sleep_duration_diff.count()); printf("sleeping time is %ld \n", |
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// sleep_duration.tv_nsec); |
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mid = my_clock::now(); |
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sleep_duration.tv_nsec = |
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(clock_period - sleep_duration_diff - (mid - start)).count(); |
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nanosleep(&sleep_duration, &out_sleep); // microseconds, so in Ghz |
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stop = my_clock::now(); |
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sleep_duration_diff = my_clock::duration( |
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(unsigned)((stop - mid) - |
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my_clock::duration(sleep_duration.tv_nsec)) |
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.count()); |
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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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/** @brief This demos show the used of the strict check of the real time loop.*/ |
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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_strict_check.cpp |
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* |
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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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* The difference with the demo_realtime_check.cpp |
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* is that we measure the sleeping time as well. |
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*/ |
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