YARP  2.3.70.2
Yet Another Robot Platform
framerate/main.cpp

Measure the framerate of a data source. This example was originally designed for images but should work with anything.

/*
* Copyright: (C) 2010 RobotCub Consortium
* Author: Paul Fitzpatrick
* CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
*/
#include <stdio.h>
#include <stdlib.h>
#include <signal.h>
#include <yarp/sig/Image.h>
#include <yarp/os/Time.h>
using namespace yarp::os;
using namespace yarp::sig;
static bool terminated=false;
static void handler (int) {
static int ct = 0;
ct++;
fprintf(stderr, "[try %d of %d] Asking to shut down smoothly\n",ct, 3);
terminated = true;
if (iPort!=0)
iPort->interrupt();
if (ct>2)
{
fprintf(stderr, "[try %d of %d] OK asking to abort...\n", ct, 3);
exit(-1);
}
}
int main(int argc, char *argv[]) {
signal(SIGINT, handler);
signal(SIGTERM, handler);
if (argc==1) {
printf("This program checks the framerate of an output port\n");
printf("Call as:\n");
printf(" framerate --remote /port_name --local /local_name --prot protocol\n");
printf("protocol can be for example tcp,udp,mcast\n");
exit(0);
}
iPort=&port; //give pointer to port to signal handler (used to interrupt port at shutdown
// get options
Property opt;
opt.fromCommand(argc,argv);
// name port
Value *val;
Value *prot;
ConstString local = "/get_image";
if (opt.check("local",val)) {
local = val->asString().c_str();
}
port.open(local.c_str());
// connect port
if (opt.check("remote", val))
{
if (opt.check("prot", prot))
Network::connect(val->asString(), local.c_str(), prot->asString().c_str());
else
Network::connect(val->asString(), local.c_str());
}
// read
double first = Time::now();
double prev = 0;
int ct = 0;
bool spoke = false;
while (!terminated) {
Bottle *bot = port.read(true);
double now = Time::now()-first;
ct++;
if (now-prev>=2) {
double period = (now-prev)/ct;
printf("Period is %g ms per message, freq is %g (%d mgs in %g secs)\n",
period*1000, 1/period, ct, now-prev);
fflush(stdout);
ct = 0;
prev = now;
spoke = false;
}
if (bot!=NULL) {
if (!spoke) {
printf("Got something with %d top-level elements\n", bot->size());
fflush(stdout);
spoke = true;
}
}
}
iPort=0; //just in case
return 0;
}