EtherCAT Control Framework v0.9
Implementation of EtherCAT protocol using IgH EtherCAT library for robot controller.
timing.hpp
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5 * Copyright (C) 2021 Veysi ADIN, UST KIST
6 *
7 * This file is part of the Wrapped IgH EtherCAT master userspace program
8 * for control applications.
9 *
10 * The Wrapped IgH EtherCAT master userspace program for control application
11 * in userspace is free software; you canredistribute it and/or modify it
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15 * The Wrapped IgH EtherCAT master userspace program for control application
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33/*******************************************************************************
34 * \file timing.hpp
35 * \brief Contains timing measurement functions for convenience
36 *******************************************************************************/
37#pragma once
38#include <vector>
39#include <chrono>
40#include <memory>
41#include <functional>
42#include <string>
43#include <cstdint>
44#include <ctime>
45#include <ratio>
46#include <fstream>
47#include <string>
48#include <iostream>
49
50#define NUMBER_OF_SAMPLES 1E6
55class Timing{
56 public:
57 std::chrono::high_resolution_clock::time_point timer_start_;
58 std::chrono::high_resolution_clock::time_point last_start_time_;
59 std::chrono::duration<long,std::micro> time_span_;
60 std::vector<long> timing_info_ = std::vector<long>(NUMBER_OF_SAMPLES);
61 uint32_t counter_ = 0;
65 void GetTime();
71 void MeasureTimeDifference();
76 void OutInfoToFile();
77};
Timing
Contains Timing measurement related functions.
Definition: timing.hpp:55
Timing::MeasureTimeDifference
void MeasureTimeDifference()
Measures time difference from last call to function GetTime() and writes is to time_span member.
Definition: timing.cpp:7
Timing::time_span_
std::chrono::duration< long, std::micro > time_span_
Definition: timing.hpp:59
Timing::timing_info_
std::vector< long > timing_info_
Definition: timing.hpp:60
Timing::timer_start_
std::chrono::high_resolution_clock::time_point timer_start_
Definition: timing.hpp:57
Timing::GetTime
void GetTime()
Gets the current time and assings to timer_start_ member.
Definition: timing.cpp:3
Timing::counter_
uint32_t counter_
Definition: timing.hpp:61
Timing::last_start_time_
std::chrono::high_resolution_clock::time_point last_start_time_
Definition: timing.hpp:58
Timing::OutInfoToFile
void OutInfoToFile()
Outputs timing information to loop_timing_info.txt file.
Definition: timing.cpp:14
NUMBER_OF_SAMPLES
#define NUMBER_OF_SAMPLES
Definition: timing.hpp:50