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Commit 82583df6 authored by ARMAR-6 User's avatar ARMAR-6 User
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add timings to debug observer


Signed-off-by: default avatarARMAR-6 User <armar6@kit.edu>
parent 03f959a9
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1 merge request!372Changes from ARMAR-6 Vision PC
......@@ -3,7 +3,6 @@
#include <filesystem>
#include <istream>
#include "ArmarXCore/core/time/Frequency.h"
#include "ArmarXCore/core/time/Metronome.h"
#include <ArmarXCore/libraries/ArmarXCoreComponentPlugins/DebugObserverComponentPlugin.h>
......@@ -11,13 +10,11 @@
#include <RobotAPI/libraries/RobotUnitDataStreamingReceiver/RobotUnitDataStreamingReceiver.h>
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
namespace armarx::armem::server::robot_state::proprioception
{
RobotUnitReader::RobotUnitReader() = default;
void
RobotUnitReader::connect(armarx::plugins::RobotUnitComponentPlugin& robotUnitPlugin,
armarx::plugins::DebugObserverComponentPlugin& debugObserverPlugin,
......@@ -48,7 +45,6 @@ namespace armarx::armem::server::robot_state::proprioception
}
}
void
RobotUnitReader::run(float pollFrequency, Queue& dataBuffer)
{
......@@ -71,7 +67,6 @@ namespace armarx::armem::server::robot_state::proprioception
}
}
std::optional<RobotUnitData>
RobotUnitReader::fetchAndConvertLatestRobotUnitData()
{
......@@ -88,16 +83,16 @@ namespace armarx::armem::server::robot_state::proprioception
RobotUnitData result;
if(converterProprioception != nullptr)
if (converterProprioception != nullptr)
{
result.proprioception = converterProprioception->convert(data.value(), description);
}
if(converterExteroception != nullptr)
if (converterExteroception != nullptr)
{
result.exteroception = converterExteroception->convert(data.value(), description);
}
result.timestamp = Time(Duration::MicroSeconds(data->timestampUSec));
auto stop = std::chrono::high_resolution_clock::now();
......@@ -114,7 +109,6 @@ namespace armarx::armem::server::robot_state::proprioception
return result;
}
std::optional<RobotUnitDataStreaming::TimeStep>
RobotUnitReader::fetchLatestData()
{
......@@ -122,6 +116,14 @@ namespace armarx::armem::server::robot_state::proprioception
if (debugObserver)
{
debugObserver->setDebugObserverDatafield("RobotUnitReader | Buffer Size", data.size());
if (data.size())
{
debugObserver->setDebugObserverDatafield("RobotUnitReader | Timestamp USec",
data.back().timestampUSec);
debugObserver->setDebugObserverDatafield(
"RobotUnitReader | Timestamp Since Last Iteration",
data.back().timesSinceLastIterationUSec);
}
}
if (data.empty())
{
......
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