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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,102 @@ | ||
| <package> | ||
| <log> | ||
| <levels>0 1 2 3 4</levels> | ||
| <types>debug err log</types> | ||
| </log> | ||
| <paths> | ||
| <path>/home/pippo/Libraries/coco/build/lib/</path> | ||
| <path>/home/pippo/Libraries/coco/samples</path> | ||
| </paths> | ||
| <components> | ||
| <component> | ||
| <task>TaskLatStart</task> | ||
| <library>component_latency</library> | ||
| <attributes> | ||
| <attribute name="sleep_time" value="10" /> | ||
| </attributes> | ||
| </component> | ||
| <component> | ||
| <task>TaskLatMiddle</task> | ||
| <name>middle_1</name> | ||
| <library>component_latency</library> | ||
| <attributes> | ||
| <attribute name="sleep_time" value="100" /> | ||
| </attributes> | ||
| </component> | ||
| <component> | ||
| <task>TaskLatMiddle</task> | ||
| <name>middle_2</name> | ||
| <library>component_latency</library> | ||
| <attributes> | ||
| <attribute name="sleep_time" value="100" /> | ||
| </attributes> | ||
| </component> | ||
| <component> | ||
| <task>TaskLatMiddle</task> | ||
| <name>middle_3</name> | ||
| <library>component_latency</library> | ||
| <attributes> | ||
| <attribute name="sleep_time" value="100" /> | ||
| </attributes> | ||
| </component> | ||
| <component> | ||
| <task>TaskLatSink</task> | ||
| <library>component_latency</library> | ||
| <attributes> | ||
| <attribute name="sleep_time" value="100" /> | ||
| </attributes> | ||
| </component> | ||
| </components> | ||
|
|
||
| <activities> | ||
| <activity> | ||
| <schedule activity="parallel" type="periodic" period="50"/> | ||
| <components> | ||
| <component name="TaskLatStart" /> | ||
| </components> | ||
| </activity> | ||
| <activity> | ||
| <schedule activity="parallel" type="triggered"/> | ||
| <components> | ||
| <component name="middle_1" /> | ||
| </components> | ||
| </activity> | ||
| <activity> | ||
| <schedule activity="parallel" type="triggered"/> | ||
| <components> | ||
| <component name="middle_2" /> | ||
| </components> | ||
| </activity> | ||
| <activity> | ||
| <schedule activity="parallel" type="triggered"/> | ||
| <components> | ||
| <component name="middle_3" /> | ||
| </components> | ||
| </activity> | ||
| <activity> | ||
| <schedule activity="parallel" type="triggered"/> | ||
| <components> | ||
| <component name="TaskLatSink" /> | ||
| </components> | ||
| </activity> | ||
| </activities> | ||
|
|
||
| <connections> | ||
| <connection data="DATA" policy="LOCKED" transport="LOCAL" buffersize="10"> | ||
| <src task="TaskLatStart" port="time_OUT"/> | ||
| <dest task="middle_1" port="time_IN"/> | ||
| </connection> | ||
| <connection data="DATA" policy="LOCKED" transport="LOCAL" buffersize="1"> | ||
| <src task="middle_1" port="time_OUT"/> | ||
| <dest task="middle_2" port="time_IN"/> | ||
| </connection> | ||
| <connection data="DATA" policy="LOCKED" transport="LOCAL" buffersize="1"> | ||
| <src task="middle_2" port="time_OUT"/> | ||
| <dest task="middle_3" port="time_IN"/> | ||
| </connection> | ||
| <connection data="DATA" policy="LOCKED" transport="LOCAL" buffersize="1"> | ||
| <src task="middle_3" port="time_OUT"/> | ||
| <dest task="TaskLatSink" port="time_IN"/> | ||
| </connection> | ||
| </connections> | ||
| </package> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,90 @@ | ||
| #include <chrono> | ||
| #include <thread> | ||
| #include <coco/coco.h> | ||
|
|
||
| class TaskLatStart : public coco::TaskContext | ||
| { | ||
| public: | ||
| coco::OutputPort<double> out_time_ = {this, "time_OUT"}; | ||
| coco::Attribute<int long> asleep_time_ = {this, "sleep_time", sleep_time_}; | ||
|
|
||
| void init() {} | ||
| void onConfig() {} | ||
|
|
||
| void onUpdate() | ||
| { | ||
| auto time = coco::util::time(); | ||
| std::this_thread::sleep_for(std::chrono::milliseconds(sleep_time_)); | ||
|
|
||
| out_time_.write(time); | ||
| } | ||
| private: | ||
| int long sleep_time_ = 10; | ||
| }; | ||
|
|
||
| COCO_REGISTER(TaskLatStart) | ||
|
|
||
| class TaskLatMiddle : public coco::TaskContext | ||
| { | ||
| public: | ||
| coco::InputPort<double> in_time_ = {this, "time_IN", true}; | ||
| coco::OutputPort<double> out_time_ = {this, "time_OUT"}; | ||
|
|
||
| coco::Attribute<int long> asleep_time_ = {this, "sleep_time", sleep_time_}; | ||
|
|
||
| void init() {} | ||
| void onConfig() {} | ||
|
|
||
| void onUpdate() | ||
| { | ||
| //if (this->instantiationName() == "middle_2") | ||
| std::cout << "Executing start" << std::endl; | ||
| double time; | ||
| in_time_.read(time); | ||
| std::this_thread::sleep_for(std::chrono::milliseconds(sleep_time_)); | ||
|
|
||
| out_time_.write(time); | ||
|
|
||
| //if (this->instantiationName() == "middle_2") | ||
| std::cout << "Executing end" << std::endl; | ||
| } | ||
| private: | ||
| int long sleep_time_ = 10; | ||
| }; | ||
|
|
||
| COCO_REGISTER(TaskLatMiddle) | ||
|
|
||
|
|
||
| class TaskLatSink : public coco::TaskContext | ||
| { | ||
| public: | ||
| coco::InputPort<double> in_time_ = {this, "time_IN", true}; | ||
| coco::OutputPort<double> out_time_ = {this, "time_OUT"}; | ||
| coco::Attribute<int long> asleep_time_ = {this, "sleep_time", sleep_time_}; | ||
|
|
||
| void init() {} | ||
| void onConfig() {} | ||
|
|
||
| void onUpdate() | ||
| { | ||
| double time; | ||
| in_time_.read(time); | ||
|
|
||
| std::this_thread::sleep_for(std::chrono::milliseconds(sleep_time_)); | ||
|
|
||
| times_.push_back(coco::util::time() - time); | ||
| out_time_.write(time); | ||
|
|
||
| static int count = 1; | ||
| if (count++ % 10 == 0) | ||
| { | ||
| double sum = std::accumulate(times_.begin(), times_.end(), 0); | ||
| COCO_LOG(1) << "Latency: " << sum / times_.size(); | ||
| } | ||
| } | ||
| private: | ||
| std::vector<double> times_; | ||
| int long sleep_time_ = 10; | ||
| }; | ||
|
|
||
| COCO_REGISTER(TaskLatSink) |