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uorb tests: improve & extend latency test output

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- min/max
- std dev
- number of missed updates
This commit is contained in:
Beat Küng
2018-07-24 19:37:30 +02:00
committed by Lorenz Meier
parent 00ebffb0dd
commit fbd553c528
2 changed files with 32 additions and 5 deletions
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src/modules/uORB/uORB_tests/uORBTest_UnitTest.cpp
+31 -4
View File
@@ -88,9 +88,12 @@ int uORBTest::UnitTest::pubsublatency_main()
const unsigned maxruns = 1000;
unsigned timingsgroup = 0;
int current_value = t.val;
int num_missed = 0;
// timings has to be on the heap to keep frame size below 2048 bytes
unsigned *timings = new unsigned[maxruns];
unsigned timing_min = 9999999, timing_max = 0;
for (unsigned i = 0; i < maxruns; i++) {
/* wait for up to 500ms for data */
@@ -110,13 +113,24 @@ int uORBTest::UnitTest::pubsublatency_main()
}
if (pret < 0) {
warn("poll error %d, %d", pret, errno);
PX4_ERR("poll error %d, %d", pret, errno);
continue;
}
hrt_abstime elt = hrt_elapsed_time(&t.time);
num_missed += t.val - current_value - 1;
current_value = t.val;
unsigned elt = (unsigned)hrt_elapsed_time(&t.time);
latency_integral += elt;
timings[i] = elt;
if (elt > timing_max) {
timing_max = elt;
}
if (elt < timing_min) {
timing_min = elt;
}
}
orb_unsubscribe(test_multi_sub);
@@ -129,7 +143,7 @@ int uORBTest::UnitTest::pubsublatency_main()
FILE *f = fopen(fname, "w");
if (f == nullptr) {
warnx("Error opening file!\n");
PX4_ERR("Error opening file!");
delete[] timings;
return PX4_ERROR;
}
@@ -141,9 +155,22 @@ int uORBTest::UnitTest::pubsublatency_main()
fclose(f);
}
float std_dev = 0.f;
float mean = latency_integral / maxruns;
for (unsigned i = 0; i < maxruns; i++) {
float diff = (float)timings[i] - mean;
std_dev += diff * diff;
}
delete[] timings;
warnx("mean: %8.4f us", static_cast<double>(latency_integral / maxruns));
PX4_INFO("mean: %8.4f us", static_cast<double>(mean));
PX4_INFO("std dev: %8.4f us", static_cast<double>(sqrtf(std_dev / (maxruns - 1))));
PX4_INFO("min: %3i us", timing_min);
PX4_INFO("max: %3i us", timing_max);
PX4_INFO("missed topic updates: %i", num_missed);
pubsubtest_passed = true;