RecordPerformance.cpp

 
#include <iomanip>
 
#include "SampleAppsHelper.h" // Import our helper functions.
#include "rsi.h"              // Import our RapidCode Library.
 
using namespace RSI::RapidCode; // Import the RapidCode namespace
 
// Helper function to calculate the minimum, maximum, and average of a vector of integers
static std::vector<int> MinMaxAvg(std::vector<int> data)
{
  int min = data[0];
  int max = data[0];
  int sum = 0;
 
  for (int i = 0; i < data.size(); i++)
  {
    if (data[i] < min)
    {
      min = data[i];
    }
    if (data[i] > max)
    {
      max = data[i];
    }
    sum += data[i];
  }
 
  int avg = sum / data.size();
  return {min, max, avg};
}
 
int main()
{
  const std::string SAMPLE_APP_NAME = "Utilities: Record Performance";
 
  // Print a start message to indicate that the sample app has started
  SampleAppsHelper::PrintHeader(SAMPLE_APP_NAME);
 
  /* CONSTANTS */
  const int RECORD_PERIOD_SAMPLES = 1; // Number of samples between each record.
  const int RECORD_TIME = 1000;        // Time in milliseconds to record for.
 
  /* RAPIDCODE INITIALIZATION */
 
  // Create the controller
  MotionController::CreationParameters params = SampleAppsHelper::GetCreationParameters();
  MotionController *controller = MotionController::Create(&params);
 
  int exitCode = -1; // Set the exit code to an error value.
  try                // Ensure that the controller is deleted if an error occurs.
  {
    SampleAppsHelper::CheckErrors(controller);
 
    /* SAMPLE APP BODY */
 
    // Check if the network is started
    int valuesPerRecord;
    bool networkTimingEnabled = false;
    if (controller->NetworkStateGet() != RSINetworkState::RSINetworkStateOPERATIONAL)
    {
      std::cout << "Network is not operational. Only Firmware Timing Deltas will be recorded." << std::endl;
      valuesPerRecord = 1;
    }
    else
    {
      // Enable network timing
      controller->NetworkTimingEnableSet(true);
      networkTimingEnabled = true;
      valuesPerRecord = 3;
    }
 
    // Add a recorder
    int recorderIndex = controller->RecorderCountGet();
    controller->RecorderCountSet(recorderIndex + 1);
 
    // Check if the recorder is running already, if it is then stop it
    if (controller->RecorderEnabledGet(recorderIndex))
    {
      controller->RecorderStop(recorderIndex);
      controller->RecorderReset(recorderIndex);
    }
 
    // Configure the recorder
    controller->RecorderPeriodSet(RECORD_PERIOD_SAMPLES);
    controller->RecorderCircularBufferSet(false);
    controller->RecorderDataCountSet(valuesPerRecord);
    controller->RecorderDataAddressSet(0, controller->AddressGet(RSIControllerAddressType::RSIControllerAddressTypeFIRMWARE_TIMING_DELTA));
 
    if (networkTimingEnabled)
    {
      controller->RecorderDataAddressSet(1, controller->AddressGet(RSIControllerAddressType::RSIControllerAddressTypeNETWORK_TIMING_DELTA));
      controller->RecorderDataAddressSet(2, controller->AddressGet(RSIControllerAddressType::RSIControllerAddressTypeNETWORK_TIMING_RECEIVE_DELTA));
    }
 
    // Start the recorder
    controller->RecorderStart(recorderIndex);
    controller->OS->Sleep(RECORD_TIME);
    controller->RecorderStop(recorderIndex);
 
    int recordCount = controller->RecorderRecordCountGet(recorderIndex);
    std::cout << "There are " << recordCount << " records available." << std::endl;
 
    // Read the records
    std::vector<int> firmawareTimingDeltas(recordCount);
    std::vector<int> networkTimingDeltas(recordCount);
    std::vector<int> networkTimingReceiveDeltas(recordCount);
 
    for (int i = 0; i < recordCount; i++)
    {
      controller->RecorderRecordDataRetrieve(recorderIndex);
      firmawareTimingDeltas[i] = controller->RecorderRecordDataValueGet(recorderIndex, 0);
 
      if (networkTimingEnabled)
      {
        networkTimingDeltas[i] = controller->RecorderRecordDataValueGet(recorderIndex, 1);
        networkTimingReceiveDeltas[i] = controller->RecorderRecordDataValueGet(recorderIndex, 2);
      }
    }
 
    // Calculate the statistics
    std::vector<int> firmwareTimingStats = MinMaxAvg(firmawareTimingDeltas);
    std::cout << "Firmware Timing Deltas (us):       ";
    std::cout << "  Min = " << std::setw(4) << firmwareTimingStats[0];
    std::cout << "  Max = " << std::setw(4) << firmwareTimingStats[1];
    std::cout << "  Avg = " << std::setw(4) << firmwareTimingStats[2] << std::endl;
 
    if (networkTimingEnabled)
    {
      std::vector<int> networkTimingStats = MinMaxAvg(networkTimingDeltas);
      std::cout << "Network Timing Deltas (us):        ";
      std::cout << "  Min = " << std::setw(4) << networkTimingStats[0];
      std::cout << "  Max = " << std::setw(4) << networkTimingStats[1];
      std::cout << "  Avg = " << std::setw(4) << networkTimingStats[2] << std::endl;
 
      std::vector<int> networkTimingReceiveStats = MinMaxAvg(networkTimingReceiveDeltas);
      std::cout << "Network Timing Receive Deltas (us):";
      std::cout << "  Min = " << std::setw(4) << networkTimingReceiveStats[0];
      std::cout << "  Max = " << std::setw(4) << networkTimingReceiveStats[1];
      std::cout << "  Avg = " << std::setw(4) << networkTimingReceiveStats[2] << std::endl;
    }
 
    // Delete the recorder
    controller->RecorderCountSet(recorderIndex);
 
    exitCode = 0; // Set the exit code to success.
  }
  catch (const std::exception &ex)
  {
    std::cerr << ex.what() << std::endl;
    exitCode = -1;
  }
  // Delete the controller as the program exits to ensure memory is deallocated in the correct order
  controller->Delete();
 
  // Print a message to indicate the sample app has finished and if it was successful or not
  SampleAppsHelper::PrintFooter(SAMPLE_APP_NAME, exitCode);
 
  return exitCode;
}