From b3e2a55844793a84a684c668539876830f6bc0f0 Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Wed, 25 Jul 2018 16:40:50 +0200
Subject: [PATCH] Make warnings about NJointController runtime dependent on the
number of ControlDevices
---
.../NJointControllers/NJointController.h | 5 ++++
.../NJointControllers/NJointController.ipp | 6 +++++
.../components/units/RobotUnit/RobotUnit.h | 2 ++
.../RobotUnitModuleControlThread.cpp | 4 ++--
.../RobotUnitModuleControlThread.h | 23 +++++++++++++++++++
5 files changed, 38 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h
index fec9d8df7..6085b8a6d 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h
@@ -714,6 +714,11 @@ namespace armarx
*/
bool rtGetErrorState() const;
+ /**
+ * @brief Returns the number of used \ref ControlDevice "ControlDevices"
+ * @return The number of used \ref ControlDevice "ControlDevices"
+ */
+ std::size_t rtGetNumberOfUsedControlDevices() const;
protected:
/**
* @brief This function is called before the controller is activated.
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.ipp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.ipp
index 0cd310b21..a4b8ee87b 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.ipp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.ipp
@@ -204,6 +204,12 @@ namespace armarx
{
return errorState;
}
+
+ inline std::size_t NJointController::rtGetNumberOfUsedControlDevices() const
+ {
+ return controlDeviceUsedIndices.size();
+ }
+
//NJointControllerWithTripleBuffer<ControlDataStruct>
template <typename ControlDataStruct>
inline void NJointControllerWithTripleBuffer<ControlDataStruct>::rtSwapBufferAndRun(
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnit.h b/source/RobotAPI/components/units/RobotUnit/RobotUnit.h
index 30541f320..eac584c03 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnit.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnit.h
@@ -40,6 +40,7 @@ namespace armarx
public RobotUnitModule::RobotDataPropertyDefinitions,
public RobotUnitModule::PublisherPropertyDefinitions,
public RobotUnitModule::ManagementPropertyDefinitions,
+ public RobotUnitModule::ControlThreadPropertyDefinitions,
public RobotUnitModule::SelfCollisionCheckerPropertyDefinitions
{
public:
@@ -50,6 +51,7 @@ namespace armarx
RobotDataPropertyDefinitions(prefix),
PublisherPropertyDefinitions(prefix),
ManagementPropertyDefinitions(prefix),
+ ControlThreadPropertyDefinitions(prefix),
SelfCollisionCheckerPropertyDefinitions(prefix)
{}
};
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp
index 811a2bf87..3d5b227b8 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp
@@ -323,11 +323,11 @@ namespace armarx
rtSyncNJointControllerRobot(nJointCtrl);
nJointCtrl->rtSwapBufferAndRun(sensorValuesTimestamp, timeSinceLastIteration);
auto duration = TimeUtil::GetTime(true) - start;
- if (duration.toMicroSeconds() > 500)
+ if (static_cast<std::size_t>(duration.toMicroSeconds()) > nJointCtrl->rtGetNumberOfUsedControlDevices() * usPerDevUntilError)
{
ARMARX_ERROR << deactivateSpam(5) << "The NJointController " << nJointCtrl->getClassName() << " took " << duration.toMicroSeconds() << " µs to run!";
}
- else if (duration.toMicroSeconds() > 50)
+ else if (static_cast<std::size_t>(duration.toMicroSeconds()) > nJointCtrl->rtGetNumberOfUsedControlDevices() * usPerDevUntilWarn)
{
ARMARX_WARNING << deactivateSpam(5) << "The NJointController " << nJointCtrl->getClassName() << " took " << duration.toMicroSeconds() << " µs to run!";
}
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.h
index 5d75c17c0..37f339650 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.h
@@ -36,6 +36,24 @@ namespace armarx
class RTThreadTimingsSensorDevice;
namespace RobotUnitModule
{
+ class ControlThreadPropertyDefinitions: public ModuleBasePropertyDefinitions
+ {
+ public:
+ ControlThreadPropertyDefinitions(std::string prefix): ModuleBasePropertyDefinitions(prefix)
+ {
+ defineOptionalProperty<std::size_t>(
+ "NjointController_AllowedExecutionTimePerControlDeviceUntilWarning", 2,
+ "A Warning will be printed, If the execution time in micro seconds of a NJointController "
+ "exceeds this parameter times the number of ControlDevices."
+ );
+ defineOptionalProperty<std::size_t>(
+ "NjointController_AllowedExecutionTimePerControlDeviceUntilError", 20,
+ "An Error will be printed, If the execution time in micro seconds of a NJointController "
+ "exceeds this parameter times the number of ControlDevices."
+ );
+ }
+ };
+
/**
* @brief This \ref ModuleBase "Module" manages the \ref ControlThread.
*
@@ -261,6 +279,11 @@ namespace armarx
///@brief The \ref ControlThread's thread id
std::atomic<std::thread::id> controlThreadId;
+
+ /// @brief A Warning will be printed, if the execution time per ControlDev of a NJointController exceeds this parameter
+ std::size_t usPerDevUntilWarn;
+ /// @brief An Error will be printed, if the execution time per ControlDev of a NJointController exceeds this parameter
+ std::size_t usPerDevUntilError;
};
}
}
--
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