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Timing FW interface loop frequency #813

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Timing FW interface loop frequency #813

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25 changes: 16 additions & 9 deletions soccer_firmware_interface/src/soccer_firmware_interface/firmware_interface.py
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
import math
import os
import statistics
import threading
import time

Expand Down Expand Up @@ -57,7 +58,10 @@ def reconnect_serial_port(self):
rospy.logerr_throttle(10, "Unable to connect to any serial port /dev/ttyACM0-10")

def firmware_update_loop(self):
num_samples = 100
frequency_holder = [0] * num_samples
while not rospy.is_shutdown():
start_time = time.time()
try:
self.reconnect_serial_port()
# data format
Expand Down Expand Up @@ -88,10 +92,10 @@ def firmware_update_loop(self):
val = data[i * 2 + 2] | data[i * 2 + 3] << 8

motor_name = self.motor_id_to_name_dict[i]
motor_type = self.motor_mapping[motor_name]['type']
motor_angle_zero = self.motor_mapping[motor_name]['angle_zero']
max_angle_bytes = self.motor_types[motor_type]['max_angle_bytes']
max_angle_radians = self.motor_types[motor_type]['max_angle_degrees'] / 180 * math.pi
motor_type = self.motor_mapping[motor_name]["type"]
motor_angle_zero = self.motor_mapping[motor_name]["angle_zero"]
max_angle_bytes = self.motor_types[motor_type]["max_angle_bytes"]
max_angle_radians = self.motor_types[motor_type]["max_angle_degrees"] / 180 * math.pi

motor_angle_zero_radian = motor_angle_zero / 180 * math.pi

Expand Down Expand Up @@ -125,7 +129,6 @@ def firmware_update_loop(self):
imu.linear_acceleration.y = -(ay) * G / ACC_RANGE
imu.linear_acceleration.z = -(az) * G / ACC_RANGE


vx = int.from_bytes(imu_data[6:8], byteorder="big", signed=True) / IMU_GY_RANGE
vy = int.from_bytes(imu_data[8:10], byteorder="big", signed=True) / IMU_GY_RANGE
vz = int.from_bytes(imu_data[10:12], byteorder="big", signed=True) / IMU_GY_RANGE
Expand All @@ -146,6 +149,11 @@ def firmware_update_loop(self):
rospy.logerr_throttle(10, f"Lost connection to serial port {type(ex)} {ex}, retrying...")
pass

frequency_holder.append(time.time() - start_time)
frequency_holder = frequency_holder[-num_samples:]
average = statistics.mean(frequency_holder)
rospy.loginfo_throttle(1, f"FW interface average loop period = {average}sec, frequency = {1/average}Hz")

def joint_command_callback(self, joint_state: JointState):
try:

Expand All @@ -162,7 +170,6 @@ def joint_command_callback(self, joint_state: JointState):
if time_diff_real < time_diff_message_in:
rospy.sleep(time_diff_message_in - time_diff_real)


t1 = time.time()

self.reconnect_serial_port()
Expand Down Expand Up @@ -199,15 +206,15 @@ def joint_command_callback(self, joint_state: JointState):
bytes_to_write[2 + id * 2 + 1] = angle_final_bytes_2
pass


t2 = time.time()

self.serial.write(bytes_to_write)
self.last_motor_publish_time_real = rospy.Time.now()
self.last_motor_publish_time = joint_state.header.stamp
t3 = time.time()
rospy.loginfo(f"Time Lag : {(rospy.Time.now() - joint_state.header.stamp).to_sec()} Bytes Written: {bytes_to_write} Time Take {t2-t1} {t3-t1}")

rospy.loginfo(
f"Time Lag : {(rospy.Time.now() - joint_state.header.stamp).to_sec()} Bytes Written: {bytes_to_write} Time Take {t2-t1} {t3-t1}"
)

except Exception as ex:
rospy.logerr_throttle(10, f"Lost connection to serial port {ex}, retrying...")
Expand Down