From 82583df6409ffed2d3f583de8f3c3512fd84f627 Mon Sep 17 00:00:00 2001
From: ARMAR-6 User <armar6@kit.edu>
Date: Fri, 28 Jul 2023 09:58:28 +0200
Subject: [PATCH] add timings to debug observer
Signed-off-by: ARMAR-6 User <armar6@kit.edu>
---
.../server/proprioception/RobotUnitReader.cpp | 20 ++++++++++---------
1 file changed, 11 insertions(+), 9 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.cpp
index 53021dc7d..df66d58bf 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.cpp
@@ -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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