From 40c7cba8dae4b121bd39e8e0efe5515130f75483 Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Thu, 3 May 2018 11:58:26 +0200
Subject: [PATCH] Change the RobotUnit to use IceUtil::Time instead of
std::chrono
---
.../Devices/RTThreadTimingsSensorDevice.h | 35 ++++++++----------
.../RobotUnitModules/RobotUnitModuleBase.h | 16 ---------
.../RobotUnitModules/RobotUnitModuleBase.ipp | 13 -------
.../RobotUnitModuleControlThread.cpp | 12 +++----
.../RobotUnitModuleDevices.cpp | 4 +--
.../RobotUnitModulePublisher.cpp | 8 ++---
.../RobotUnitModulePublisher.h | 2 +-
.../RobotUnitModules/RobotUnitModuleUnits.cpp | 4 +--
.../SensorValues/SensorValueRTThreadTimings.h | 36 +++++++++----------
9 files changed, 48 insertions(+), 82 deletions(-)
diff --git a/source/RobotAPI/components/units/RobotUnit/Devices/RTThreadTimingsSensorDevice.h b/source/RobotAPI/components/units/RobotUnit/Devices/RTThreadTimingsSensorDevice.h
index b7b0778f6..971935730 100644
--- a/source/RobotAPI/components/units/RobotUnit/Devices/RTThreadTimingsSensorDevice.h
+++ b/source/RobotAPI/components/units/RobotUnit/Devices/RTThreadTimingsSensorDevice.h
@@ -90,40 +90,35 @@ namespace armarx
void rtMarkRtLoopStart() override
{
- std::chrono::microseconds now = MicroNow();
+ const IceUtil::Time now = TimeUtil::GetTime(true);
value.rtLoopRoundTripTime = now - rtLoopStart;
rtLoopStart = now;
}
void rtMarkRtLoopPreSleep() override
{
- value.rtLoopDuration = MicroNow() - rtLoopStart;
+ value.rtLoopDuration = TimeUtil::GetTime(true) - rtLoopStart;
}
void rtMarkRtBusSendReceiveStart() override
{
- std::chrono::microseconds now = MicroNow();
+ const IceUtil::Time now = TimeUtil::GetTime(true);
value.rtBusSendReceiveRoundTripTime = now - rtBusSendReceiveStart;
rtBusSendReceiveStart = now;
}
void rtMarkRtBusSendReceiveEnd() override
{
- value.rtBusSendReceiveDuration = MicroNow() - rtBusSendReceiveStart;
- }
-
- static std::chrono::microseconds MicroNow()
- {
- return std::chrono::duration_cast<std::chrono::microseconds>(std::chrono::high_resolution_clock::now().time_since_epoch());
+ value.rtBusSendReceiveDuration = TimeUtil::GetTime(true) - rtBusSendReceiveStart;
}
protected:
#define make_markRT_X_Start_End(name) \
virtual void rtMarkRt##name##Start() override \
{ \
- std::chrono::microseconds now = MicroNow(); \
+ const IceUtil::Time now = TimeUtil::GetTime(true); \
value.rt##name##RoundTripTime = now - rt##name##Start; \
rt##name##Start=now; \
} \
virtual void rtMarkRt##name##End() override \
{ \
- value.rt##name##Duration=MicroNow() - rt##name##Start; \
+ value.rt##name##Duration=TimeUtil::GetTime(true) - rt##name##Start; \
}
make_markRT_X_Start_End(SwitchControllerSetup)
@@ -135,15 +130,15 @@ namespace armarx
make_markRT_X_Start_End(ResetAllTargets)
#undef make_markRT_X_Start_End
protected:
- std::chrono::microseconds rtSwitchControllerSetupStart;
- std::chrono::microseconds rtRunNJointControllersStart;
- std::chrono::microseconds rtHandleInvalidTargetsStart;
- std::chrono::microseconds rtRunJointControllersStart;
- std::chrono::microseconds rtBusSendReceiveStart;
- std::chrono::microseconds rtReadSensorDeviceValuesStart;
- std::chrono::microseconds rtUpdateSensorAndControlBufferStart;
- std::chrono::microseconds rtResetAllTargetsStart;
- std::chrono::microseconds rtLoopStart;
+ IceUtil::Time rtSwitchControllerSetupStart;
+ IceUtil::Time rtRunNJointControllersStart;
+ IceUtil::Time rtHandleInvalidTargetsStart;
+ IceUtil::Time rtRunJointControllersStart;
+ IceUtil::Time rtBusSendReceiveStart;
+ IceUtil::Time rtReadSensorDeviceValuesStart;
+ IceUtil::Time rtUpdateSensorAndControlBufferStart;
+ IceUtil::Time rtResetAllTargetsStart;
+ IceUtil::Time rtLoopStart;
};
}
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.h
index 6bb56b528..f402596d7 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.h
@@ -597,22 +597,6 @@ namespace armarx
* @throw throws If called in the \ref ControlThread or on shutdown.
*/
GuardType getGuard() const;
- /**
- * @brief Returns the current Time
- * @return The current Time
- */
- static TimePointType Now();
- /**
- * @brief Returns the microseconds since the given start timepoint.
- * @param last Start timepoint
- * @return The microseconds since the given start timepoint.
- */
- static std::chrono::microseconds MicroToNow(TimePointType last);
- /**
- * @brief Returns the microseconds since epoch.
- * @return The microseconds since epoch.
- */
- static std::chrono::microseconds MicroNow();
// //////////////////////////////////////////////////////////////////////////////////////// //
// ///////////////////////////////////////// Data ///////////////////////////////////////// //
// //////////////////////////////////////////////////////////////////////////////////////// //
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.ipp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.ipp
index 7f8a977b0..4980c7fb7 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.ipp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.ipp
@@ -28,19 +28,6 @@ namespace armarx
{
namespace RobotUnitModule
{
- inline ModuleBase::TimePointType ModuleBase::Now()
- {
- return ClockType::now();
- }
- inline std::chrono::microseconds ModuleBase::MicroToNow(ModuleBase::TimePointType last)
- {
- return std::chrono::duration_cast<std::chrono::microseconds>(Now() - last);
- }
- inline std::chrono::microseconds ModuleBase::MicroNow()
- {
- return std::chrono::duration_cast<std::chrono::microseconds>(std::chrono::high_resolution_clock::now().time_since_epoch());
- }
-
inline RobotUnitState ModuleBase::getRobotUnitState() const
{
return state;
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp
index 08816b35a..079f15c44 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp
@@ -322,16 +322,16 @@ namespace armarx
{
if (nJointCtrl)
{
- auto start = MicroNow();
+ auto start = TimeUtil::GetTime(true);
nJointCtrl->rtSwapBufferAndRun(sensorValuesTimestamp, timeSinceLastIteration);
- auto duration = MicroNow() - start;
- if (duration.count() > 500)
+ auto duration = TimeUtil::GetTime(true) - start;
+ if (duration.toMicroSeconds() > 500)
{
- ARMARX_ERROR << deactivateSpam(5) << "The NJointController " << nJointCtrl->getClassName() << " took " << duration.count() << " µs to run!";
+ ARMARX_ERROR << deactivateSpam(5) << "The NJointController " << nJointCtrl->getClassName() << " took " << duration.toMicroSeconds() << " µs to run!";
}
- else if (duration.count() > 50)
+ else if (duration.toMicroSeconds() > 50)
{
- ARMARX_WARNING << deactivateSpam(5) << "The NJointController " << nJointCtrl->getClassName() << " took " << duration.count() << " µs to run!";
+ ARMARX_WARNING << deactivateSpam(5) << "The NJointController " << nJointCtrl->getClassName() << " took " << duration.toMicroSeconds() << " µs to run!";
}
}
}
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleDevices.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleDevices.cpp
index 87bc3b2aa..93d5d8280 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleDevices.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleDevices.cpp
@@ -153,7 +153,7 @@ namespace armarx
{
status.controlTargetValues[targ->getControlMode()] = targ->toVariants(_module<ControlThreadDataBuffer>().getSensorAndControlBuffer().sensorValuesTimestamp);
}
- status.timestampUSec = MicroNow().count();
+ status.timestampUSec = TimeUtil::GetTime(true).toMicroSeconds();
throwIfDevicesNotReady(__FUNCTION__);
return status;
}
@@ -221,7 +221,7 @@ namespace armarx
SensorDeviceStatus status;
status.deviceName = sensorDevice->getDeviceName();
status.sensorValue = _module<ControlThreadDataBuffer>().getSensorAndControlBuffer().sensors.at(idx)->toVariants(_module<ControlThreadDataBuffer>().getSensorAndControlBuffer().sensorValuesTimestamp);
- status.timestampUSec = MicroNow().count();
+ status.timestampUSec = TimeUtil::GetTime(true).toMicroSeconds();
throwIfDevicesNotReady(__FUNCTION__);
return status;
}
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp
index b6aa80e65..8e0176897 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp
@@ -244,7 +244,7 @@ namespace armarx
ARMARX_CHECK_EXPRESSION(requestedJointControllers.at(ctrlidx));
status.requestedControlMode = requestedJointControllers.at(ctrlidx)->getControlMode();
status.controlTargetValues = std::move(variants);
- status.timestampUSec = MicroNow().count();
+ status.timestampUSec = TimeUtil::GetTime(true).toMicroSeconds();
listenerPrx->controlDeviceStatusChanged(status);
}
if (robotUnitObserver->getState() >= eManagedIceObjectStarted)
@@ -285,7 +285,7 @@ namespace armarx
}
status.sensorValue = std::move(variants);
- status.timestampUSec = MicroNow().count();
+ status.timestampUSec = TimeUtil::GetTime(true).toMicroSeconds();
listenerPrx->sensorDeviceStatusChanged(status);
}
}
@@ -493,7 +493,7 @@ namespace armarx
if (publishToObserver)
{
- timingMap["LastPublishLoop"] = new TimedVariant {TimestampVariant{lastPublishLoop.count()}, timestamp};
+ timingMap["LastPublishLoop"] = new TimedVariant {TimestampVariant{lastPublishLoop}, timestamp};
if (robotUnitObserver->getState() >= eManagedIceObjectStarted)
{
robotUnitObserver->offerOrUpdateDataFieldsFlatCopy(robotUnitObserver->additionalChannel, additionalMap);
@@ -517,7 +517,7 @@ namespace armarx
}
}
++publishIterationCount;
- lastPublishLoop = MicroToNow(begPublish);
+ lastPublishLoop = TimeUtil::GetTime(true) - begPublish;
}
}
}
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.h
index c59dcd9a5..bac3769ac 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.h
@@ -280,7 +280,7 @@ namespace armarx
std::atomic<std::uint64_t> debugObserverSkipIterations;
/// @brief The time required by the last iteration of \ref publish
- std::chrono::microseconds lastPublishLoop;
+ IceUtil::Time lastPublishLoop;
/// @brief The used RobotUnitObserver
RobotUnitObserverPtr robotUnitObserver;
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp
index d2ac94760..cb344901d 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp
@@ -130,7 +130,7 @@ namespace armarx
void Units::initializeDefaultUnits()
{
- auto beg = MicroNow();
+ auto beg = TimeUtil::GetTime(true);
{
auto guard = getGuard();
throwIfStateIsNot(RobotUnitState::InitializingUnits, __FUNCTION__);
@@ -148,7 +148,7 @@ namespace armarx
initializeTcpControllerUnit();
ARMARX_DEBUG << "TcpControllerUnit initialized";
}
- ARMARX_INFO << "initializing default units...done! " << (MicroNow() - beg).count() << " us";
+ ARMARX_INFO << "initializing default units...done! " << (TimeUtil::GetTime(true) - beg).toMicroSeconds() << " us";
}
diff --git a/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueRTThreadTimings.h b/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueRTThreadTimings.h
index 7c1ff7bae..0c2816773 100644
--- a/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueRTThreadTimings.h
+++ b/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueRTThreadTimings.h
@@ -34,32 +34,32 @@ namespace armarx
public:
DETAIL_SensorValueBase_DEFAULT_METHOD_IMPLEMENTATION
- std::chrono::microseconds rtSwitchControllerSetupDuration;
- std::chrono::microseconds rtSwitchControllerSetupRoundTripTime;
+ IceUtil::Time rtSwitchControllerSetupDuration;
+ IceUtil::Time rtSwitchControllerSetupRoundTripTime;
- std::chrono::microseconds rtRunNJointControllersDuration;
- std::chrono::microseconds rtRunNJointControllersRoundTripTime;
+ IceUtil::Time rtRunNJointControllersDuration;
+ IceUtil::Time rtRunNJointControllersRoundTripTime;
- std::chrono::microseconds rtHandleInvalidTargetsDuration;
- std::chrono::microseconds rtHandleInvalidTargetsRoundTripTime;
+ IceUtil::Time rtHandleInvalidTargetsDuration;
+ IceUtil::Time rtHandleInvalidTargetsRoundTripTime;
- std::chrono::microseconds rtRunJointControllersDuration;
- std::chrono::microseconds rtRunJointControllersRoundTripTime;
+ IceUtil::Time rtRunJointControllersDuration;
+ IceUtil::Time rtRunJointControllersRoundTripTime;
- std::chrono::microseconds rtBusSendReceiveDuration;
- std::chrono::microseconds rtBusSendReceiveRoundTripTime;
+ IceUtil::Time rtBusSendReceiveDuration;
+ IceUtil::Time rtBusSendReceiveRoundTripTime;
- std::chrono::microseconds rtReadSensorDeviceValuesDuration;
- std::chrono::microseconds rtReadSensorDeviceValuesRoundTripTime;
+ IceUtil::Time rtReadSensorDeviceValuesDuration;
+ IceUtil::Time rtReadSensorDeviceValuesRoundTripTime;
- std::chrono::microseconds rtUpdateSensorAndControlBufferDuration;
- std::chrono::microseconds rtUpdateSensorAndControlBufferRoundTripTime;
+ IceUtil::Time rtUpdateSensorAndControlBufferDuration;
+ IceUtil::Time rtUpdateSensorAndControlBufferRoundTripTime;
- std::chrono::microseconds rtResetAllTargetsDuration;
- std::chrono::microseconds rtResetAllTargetsRoundTripTime;
+ IceUtil::Time rtResetAllTargetsDuration;
+ IceUtil::Time rtResetAllTargetsRoundTripTime;
- std::chrono::microseconds rtLoopDuration;
- std::chrono::microseconds rtLoopRoundTripTime;
+ IceUtil::Time rtLoopDuration;
+ IceUtil::Time rtLoopRoundTripTime;
static SensorValueInfo<SensorValueRTThreadTimings> GetClassMemberInfo()
{
--
GitLab