Add timing reports for both simulation and shm
This involves a major refactor of how event loops are put together.
Lots of functionality for timing reports is in the base event loop
class (though hidden as much as possible to avoid cluttering the
interface). More functionality is now in the base class, with simpler
and more consistent subclasses.
Change-Id: I163ffb8d1b0e29a0231b54e205c2d7c5241d662b
diff --git a/aos/events/ping_lib.cc b/aos/events/ping_lib.cc
index 31c7b18..4bbf580 100644
--- a/aos/events/ping_lib.cc
+++ b/aos/events/ping_lib.cc
@@ -7,6 +7,7 @@
#include "glog/logging.h"
DEFINE_int32(sleep_ms, 10, "Time to sleep between pings");
+DEFINE_bool(phased_loop, false, "If true, use a phased loop");
namespace aos {
@@ -14,15 +15,25 @@
Ping::Ping(EventLoop *event_loop)
: event_loop_(event_loop),
- sender_(event_loop_->MakeSender<examples::Ping>("/test")) {
- timer_handle_ = event_loop_->AddTimer([this]() { SendPing(); });
+ sender_(event_loop_->MakeSender<examples::Ping>("/test")),
+ pong_fetcher_(event_loop_->MakeFetcher<examples::Pong>("/test")) {
+ if (FLAGS_phased_loop) {
+ phased_loop_handle_ = event_loop_->AddPhasedLoop(
+ [this](int) { SendPing(); }, chrono::milliseconds(FLAGS_sleep_ms));
+ phased_loop_handle_->set_name("ping");
+ } else {
+ timer_handle_ = event_loop_->AddTimer([this]() { SendPing(); });
+ timer_handle_->set_name("ping");
+ }
event_loop_->MakeWatcher(
"/test", [this](const examples::Pong &pong) { HandlePong(pong); });
event_loop_->OnRun([this]() {
- timer_handle_->Setup(event_loop_->monotonic_now(),
- chrono::milliseconds(FLAGS_sleep_ms));
+ if (!FLAGS_phased_loop) {
+ timer_handle_->Setup(event_loop_->monotonic_now(),
+ chrono::milliseconds(FLAGS_sleep_ms));
+ }
});
event_loop_->SetRuntimeRealtimePriority(5);
@@ -40,6 +51,7 @@
}
void Ping::HandlePong(const examples::Pong &pong) {
+ pong_fetcher_.Fetch();
const aos::monotonic_clock::time_point monotonic_send_time(
chrono::nanoseconds(pong.initial_send_time()));
const aos::monotonic_clock::time_point monotonic_now =