From f99bb69180e3769493c62eb3029414b441684c1d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 30 Aug 2024 20:04:46 -0700 Subject: [PATCH] longitudinal maneuvers: proper ratekeeping --- examples/longitudinal-profiles.py | 23 ++++++++++++++++++++--- 1 file changed, 20 insertions(+), 3 deletions(-) diff --git a/examples/longitudinal-profiles.py b/examples/longitudinal-profiles.py index c259074eb5..26a25cbf81 100755 --- a/examples/longitudinal-profiles.py +++ b/examples/longitudinal-profiles.py @@ -21,6 +21,23 @@ # - setup: show countdown? +class Ratekeeper: + def __init__(self, rate: float) -> None: + self.interval = 1. / rate + self.next_frame_time = time.monotonic() + self.interval + + def keep_time(self) -> bool: + lagged = False + remaining = self.next_frame_time - time.monotonic() + self.next_frame_time += self.interval + if remaining < -0.1: + print(f"lagging by {-remaining * 1000:.2f} ms") + lagged = True + + if remaining > 0: + time.sleep(remaining) + return lagged + @dataclass class Action: accel: float # m/s^2 @@ -145,6 +162,7 @@ def main(args): print("\n\n") logs = {} + rk = Ratekeeper(int(1./DT)) for i, m in enumerate(MANEUVERS): logs[m.description] = {} print(f"Running {i+1}/{len(MANEUVERS)} '{m.description}'") @@ -169,7 +187,7 @@ def main(args): ready_cnt = (ready_cnt+1) if ready else 0 if ready_cnt > (3./DT): break - time.sleep(DT) + rk.keep_time() else: print("ERROR: failed to setup") continue @@ -187,7 +205,7 @@ def main(args): for k2, v2 in asdict(v).items(): logs[m.description][run][f"{k}.{k2}"].append(v2) - time.sleep(DT) + rk.keep_time() with open('/tmp/logs.json', 'w') as f: import json @@ -196,7 +214,6 @@ def main(args): if __name__ == "__main__": - parser = argparse.ArgumentParser(description="A tool for longitudinal control testing.", formatter_class=argparse.ArgumentDefaultsHelpFormatter) parser.add_argument('--desc', help="Extra description to include in report.")