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Calculate and write the realtime factor #44

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Calculate and write the realtime factor #44

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4 changes: 4 additions & 0 deletions mars.orogen
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Original file line number Diff line number Diff line change
Expand Up @@ -112,6 +112,10 @@ task_context "Task" do

output_port('time', 'double')
output_port('simulated_time', '/base/Time')
output_port('system_time', '/base/Time')
output_port('loop_time_real', 'double')
output_port('loop_time_sim', 'double')
output_port('realtime_factor', 'double')

port_driven 'control_action'

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13 changes: 12 additions & 1 deletion tasks/Task.cpp
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Expand Up @@ -601,7 +601,18 @@ void Task::receiveData(
const data_broker::DataPackage& package,
int id)
{
_simulated_time.write(base::Time::fromMilliseconds(simulatorInterface->getTime()));
base::Time simtime = base::Time::fromMilliseconds(simulatorInterface->getTime());
base::Time systemtime = base::Time::now();
_simulated_time.write(simtime);
_system_time.write(systemtime);
double realdiff = (systemtime - lastSimUpdateSystemTime).toSeconds();
double simdiff = (simtime - lastSimUpdateSimTime).toSeconds();
_loop_time_real.write(realdiff);
_loop_time_sim.write(simdiff);
_realtime_factor.write(simdiff/realdiff);

lastSimUpdateSimTime = simtime;
lastSimUpdateSystemTime = systemtime;
}

bool Task::setGravity_internal(::base::Vector3d const & value){
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3 changes: 3 additions & 0 deletions tasks/Task.hpp
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Expand Up @@ -78,6 +78,9 @@ namespace mars {
pthread_t thread_info;
static lib_manager::LibManager* libManager;

base::Time lastSimUpdateSimTime;
base::Time lastSimUpdateSystemTime;

mars::interfaces::PluginInterface* multisimPlugin;

int getOptionCount(const std::vector<Option>& options);
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