[Base] check the execution time of main loop #578
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
tongtybj
requested changes
Nov 28, 2023
| if (~e.last_real.isZero()) | ||
| { | ||
| double dt_real = e.current_real.toSec() - e.last_real.toSec(); | ||
| double tolerance = 0.05; |
There was a problem hiding this comment.
Why is this value hard-coding. Does 50 ms have a special meaning?
There was a problem hiding this comment.
The tolerance is the ratio with main_loop rate, and the specific value is set by my experience. Normally the main_loop rate has slight variation in each loop, and I think 5% is a suitable threshold for normal execution. Is it necessary to make this value a parameter?
|
Could you respond the review comment? |
Sorry, I will check it tonight. Don't know why I missed the reminder from GitHub... |
…r tolerance selection
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
What is this
The real execution time for the main loop is super critical. However, some optimization-based methods (e.g. MPC) might take longer time to execute the loop once. So I add some code to monitor this time, and if the real execution time is longer than tolerance, ROS_WARN will be printed.