*** empty log message ***

svn path=/trunk/yarp2/; revision=6584

example/os/CMakeLists.txt

@@ -18,6 +18,7 @@ ADD_EXECUTABLE(threads threads.cpp)
 ADD_EXECUTABLE(image_process image_process.cpp)
 ADD_EXECUTABLE(image_process_module image_process_module.cpp)
 ADD_EXECUTABLE(ratethread ratethread.cpp)
+ADD_EXECUTABLE(ratethreadtiming ratethreadTiming.cpp)
 ADD_EXECUTABLE(make_count make_count.cpp)
 ADD_EXECUTABLE(view_count view_count.cpp)
 ADD_EXECUTABLE(browse_bottle browse_bottle.cpp)

example/os/rateThreadTiming.cpp

@@ -0,0 +1,79 @@
+// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
+
+
+// rate thread example -nat
+
+#include <stdio.h>
+
+#include <yarp/os/RateThread.h>
+#include <yarp/os/Time.h>
+#include <yarp/os/Thread.h>
+
+#include <yarp/sig/Matrix.h>
+#include <yarp/math/Rand.h>
+
+using namespace yarp::os;
+using namespace yarp::math;
+using namespace yarp::sig;
+
+const int NROWS=100;
+const int NCOLS=100;
+
+const int THREAD_PERIOD=4;
+const int MAIN_WAIT=3;
+
+class Thread1 : public RateThread {
+    Matrix m;
+public:
+	Thread1(int r):RateThread(r){}
+    virtual bool threadInit()
+	{
+		printf("Starting thread1\n");
+		return true; 
+	}
+
+	//called by start after threadInit, s is true iff the thread started
+	//successfully
+	virtual void afterStart(bool s)
+	{
+		if (s)
+			printf("Thread1 started successfully\n");
+		else
+			printf("Thread1 did not start\n");
+
+
+        m.resize(NROWS,NCOLS);
+	}
+
+    virtual void run() 
+    {
+        if (getIterations()==5)
+            {
+                double estP=getEstPeriod();
+                double estU=getEstUsed();
+                fprintf(stderr, "Thread1 est dT:%.3lf[ms]\n", estP);
+                fprintf(stderr, "Thread1 est used:%.3lf[ms]\n", estU);
+                resetStat();
+            }
+
+        for(int r=0;r<m.rows();r++)
+            for(int c=0;c<m.cols();c++)
+                m[r][c]=Rand::scalar(-1,1);
+    }
+
+    virtual void threadRelease()
+	{
+		printf("Goodbye from thread1\n");
+	}
+};
+
+int main() {
+    Thread1 t1(THREAD_PERIOD);
+
+    t1.start(); 
+
+    Time::delay(MAIN_WAIT);
+
+    t1.stop();
+    return 0;
+}

example/os/ratethread.cpp

@@ -30,7 +30,15 @@ class Thread1 : public RateThread {
 			printf("Thread1 did not start\n");
 	}
 
-    virtual void run() {
+    virtual void run() 
+    {
+        if (getIterations()==3)
+            {
+                double estP=getEstPeriod();
+                fprintf(stderr, "Thread1 est dT:%.3lf[ms]\n", estP*1000);
+                resetStat();
+            }
+
        printf("Hello, from thread1\n");
     }
 
@@ -61,6 +69,15 @@ class Thread2: public RateThread {
 
 	virtual void run()
 	{
+        int d=getIterations();
+        fprintf(stderr, "run:%d\n",d);
+        if (d==3)
+            {
+                double estP=getEstPeriod();
+                fprintf(stderr, "Thread2 est dT:%.3lf[ms]\n", estP*1000);
+                resetStat();
+            }
+
 		printf("Hello, from thread2\n");
 	}
 
@@ -78,7 +95,7 @@ int main() {
 
 	printf("Starting threads...\n");
     bool ok=t1.start();
-	ok = ok&&t2.start();
+    //	ok = ok&&t2.start();
 	if (!ok)
 	{
 		printf("One of the thread failed to initialize, returning\n");
@@ -89,7 +106,7 @@ int main() {
     printf("suspending threads...\n");
 
 	t1.suspend();
-	t2.suspend();
+    //	t2.suspend();
 
 	printf("Waiting some time");
 	for(int k=1;k<20;k++)
@@ -104,16 +121,18 @@ int main() {
 	printf("Changing thread2 rate to %d[ms]\n", 500);
 
 	t1.setRate(250);
-	t2.setRate(500);
+    //	t2.setRate(500);
 
 	printf("Resuming threads...\n");
+    t1.resetStat();
+    //    t2.resetStat();
 	t1.resume();
-	t2.resume();
+    //	t2.resume();
 
 	Time::delay(3);
 
     t1.stop();
-	t2.stop();
+    //	t2.stop();
     printf("stopped\n");
 
     return 0;

src/libYARP_OS/include/yarp/os/RateThread.h

@@ -113,7 +113,27 @@ class yarp::os::RateThread {
      */
     void resume();
 
-
+    /**
+     * Reset thread statistics.
+     */
+    void resetStat();
+
+    /**
+     * Return estimated period since last reset.
+     */
+	double getEstPeriod();
+
+    /**
+     * Return the number of iterations performed since last reset.
+     */
+    unsigned int getIterations();
+
+    /**
+     * Return the estimated duration of the run() function since 
+     * last reset.
+     */
+    double getEstUsed();
+
     /**
      * Called just before a new thread starts.
      */