*** empty log message ***

svn path=/trunk/yarp2/; revision=6598
traversaro · Mar 17, 2008 · c382b27 · c382b27
1 parent e201d08
commit c382b27
Show file tree

Hide file tree

Showing 3 changed files with 56 additions and 42 deletions.
diff --git a/example/os/CMakeLists.txt b/example/os/CMakeLists.txt
@@ -1,7 +1,7 @@
 PROJECT (Examples)
 
 # replace "..." with the path to your YARP binaries if needed
-SET(YARP_DIR "${CMAKE_SOURCE_DIR}/../.." CACHE LOCATION "where is yarp?")
+#SET(YARP_DIR "${CMAKE_SOURCE_DIR}/../.." CACHE LOCATION "where is yarp?")
 
 FIND_PACKAGE(YARP)
 
@@ -18,7 +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(ratethreadtiming rateThreadTiming.cpp)
 ADD_EXECUTABLE(make_count make_count.cpp)
 ADD_EXECUTABLE(view_count view_count.cpp)
 ADD_EXECUTABLE(browse_bottle browse_bottle.cpp)

diff --git a/example/os/ratethread.cpp b/example/os/ratethread.cpp
@@ -32,14 +32,7 @@ class Thread1 : public RateThread {
 
     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");
+        printf("Hello, from thread1\n");
     }
 
     virtual void threadRelease()
@@ -69,15 +62,6 @@ 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");
 	}
 
@@ -95,44 +79,49 @@ 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");
-		return -1;
-	}
+        {
+            printf("One of the thread failed to initialize, returning\n");
+            return -1;
+        }
 
     Time::delay(3);
-    printf("suspending threads...\n");
+    printf("Thread1 ran %d times, estimated rate: %.lf[ms]\n", t1.getIterations(), t1.getEstPeriod());
+    printf("Thread2 ran %d times, estimated rate: %.lf[ms]\n", t2.getIterations(), t2.getEstPeriod());
 
+    printf("suspending threads...\n");
 	t1.suspend();
-    //	t2.suspend();
+    t2.suspend();
 
 	printf("Waiting some time");
 	for(int k=1;k<20;k++)
-	{
-		printf(".");
-        fflush(stdout);
-		Time::delay(0.2); //200[ms]
-	}
+        {
+            printf(".");
+            fflush(stdout);
+            Time::delay(0.2); //200[ms]
+        }
 	printf("\n");
 
+
 	printf("Changing thread1 rate to %d[ms]\n", 250);
 	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();
+    t2.resetStat();
 	t1.resume();
-    //	t2.resume();
+    t2.resume();
 
 	Time::delay(3);
 
+    printf("Thread1 ran %d times, estimated rate: %.lf[ms]\n", t1.getIterations(), t1.getEstPeriod());
+    printf("Thread2 ran %d times, estimated rate: %.lf[ms]\n", t2.getIterations(), t2.getEstPeriod());
     t1.stop();
-    //	t2.stop();
+    t2.stop();
     printf("stopped\n");
 
     return 0;

diff --git a/src/libYARP_OS/src/RateThread.cpp b/src/libYARP_OS/src/RateThread.cpp
@@ -39,6 +39,7 @@ class RateThreadCallbackAdapter: public ThreadImpl
     bool suspended;
     double totalUsed;      //total time taken iterations
     unsigned int count;    //number of iterations from last reset
+    unsigned int estPIt;   //number of useful iterations for period estimation
     double totalT;         //time bw run, accumulated
     double previousRun;    //time when last iteration started
     double currentRun;     //time when this iteration started
@@ -48,6 +49,7 @@ class RateThreadCallbackAdapter: public ThreadImpl
     {
         totalUsed=0;
         count=0;
+        estPIt=0;
         totalT=0;
         scheduleReset=false;
     }
@@ -68,19 +70,34 @@ class RateThreadCallbackAdapter: public ThreadImpl
 
     double getEstPeriod()
     { 
-        if (count<1)
-            return 0.0;
-        return totalT/(count);
+        double ret;
+        lock();
+        if (estPIt==0)
+            ret=0;
+        else
+            ret=totalT/estPIt;
+        unlock();
+        return ret;
     }
 
     unsigned int getIterations()
-    { return count; }
+    { 
+        lock();
+        unsigned int ret=count;
+        unlock();
+        return ret;
+    }
 
     double getEstUsed()
     { 
+        double ret;
+        lock();
         if (count<1)
-            return 0.0;
-        return totalUsed/count;
+            ret=0.0;
+        else
+            ret=totalUsed/count;
+        unlock();
+        return ret;
     }
 
     inline double getTime()
@@ -103,13 +120,18 @@ class RateThreadCallbackAdapter: public ThreadImpl
 
     void singleStep()
     {
+        lock();
         currentRun=getTime();
 
         if (scheduleReset)
             _resetStat();
 
         if (count>0)
-            totalT+=(currentRun-previousRun)*1000;
+            {
+                totalT+=(currentRun-previousRun)*1000;
+                estPIt++;
+            }
+
         previousRun=currentRun;
 
         if (!suspended)
@@ -128,6 +150,7 @@ class RateThreadCallbackAdapter: public ThreadImpl
         else
             sleep_period=0;
 
+        unlock();
         Time::delay(sleep_period/1000.0);
 #if 0
         int us=sleep_period.usec()%1000;
@@ -145,7 +168,9 @@ class RateThreadCallbackAdapter: public ThreadImpl
     {
         while(!isClosing())
             {
+                //                lock();
                 singleStep();
+                //                unlock();
             }
     }