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Add beep trylock, print PDgain, print time in EC debug #1060

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merged 3 commits into from
Oct 26, 2016
Merged

Add beep trylock, print PDgain, print time in EC debug #1060

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7d9e551
[rtc/Beeper/Beeper.cpp] Use mutex trylock not to block realtime thread
snozawa Oct 26, 2016
0c171a5
[ec/hrpEC/hrpEC-common.cpp] Print gettimeofday time in ENABLE_DEBUG_P…
snozawa Oct 26, 2016
1b3c864
[rtc/RobotHardware/robot.cpp] Print loaded PD gain.
snozawa Oct 26, 2016
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3 changes: 2 additions & 1 deletion ec/hrpEC/hrpEC-common.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -147,7 +147,8 @@ namespace RTC
#ifndef OPENRTM_VERSION_TRUNK
if (loop % debug_count == 0 && ENABLE_DEBUG_PRINT) {
gettimeofday(&debug_tv4, NULL);
fprintf(stderr, "[hrpEC] Processing time breakdown : waitForNextPeriod %f[ms], warker (onExecute) %f[ms], ExecutionProfile %f[ms], time from prev cicle %f[ms]\n",
fprintf(stderr, "[hrpEC] [%d.%6.6d] Processing time breakdown : waitForNextPeriod %f[ms], warker (onExecute) %f[ms], ExecutionProfile %f[ms], time from prev cicle %f[ms]\n",
tv.tv_sec, tv.tv_usec,
DELTA_SEC(debug_tv1, debug_tv2)*1e3,
DELTA_SEC(debug_tv2, debug_tv3)*1e3,
DELTA_SEC(debug_tv3, debug_tv4)*1e3,
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11 changes: 7 additions & 4 deletions rtc/Beeper/Beeper.cpp
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Expand Up @@ -176,10 +176,13 @@ RTC::ReturnCode_t Beeper::onExecute(RTC::UniqueId ec_id)
bd._beep_length = m_beepCommand.data[BEEP_INFO_LENGTH];
// Push beepCommand to buffer
size_t max_buffer_length = 10;
pthread_mutex_lock( &beep_mutex );
beep_command_buffer.push_back(bd);
while (beep_command_buffer.size() > max_buffer_length) beep_command_buffer.pop_front();
pthread_mutex_unlock( &beep_mutex );
if (pthread_mutex_trylock( &beep_mutex ) == 0) {
beep_command_buffer.push_back(bd);
while (beep_command_buffer.size() > max_buffer_length) beep_command_buffer.pop_front();
pthread_mutex_unlock( &beep_mutex );
} else {
std::cerr << "[" << m_profile.instance_name<< "] Mutex trylock failed (loop=" << m_loop << ")" << std::endl;
}
// print
if (m_debugLevel > 0) {
if (bd._beep_start)
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4 changes: 4 additions & 0 deletions rtc/RobotHardware/robot.cpp
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Expand Up @@ -113,6 +113,10 @@ bool robot::loadGain()
strm >> default_dgain[i];
}
strm.close();
// Print loaded gain
std::cerr << "[RobotHardware] loadGain" << std::endl;
for (unsigned int i=0; i<numJoints(); i++) { std::cerr << "[RobotHardware] " << joint(i)->name << ", pgain = " << default_pgain[i] << ", dgain = " << default_dgain[i] << std::endl;
}
return true;
}

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