42 lines
960 B
Python
42 lines
960 B
Python
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import statistics
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import time
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import erpc
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from servo_service import client
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PORT = "COM8"
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BAUD = 115200
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N = 180
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JOINT_COUNT = 48
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def main():
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xport = erpc.transport.SerialTransport(PORT, BAUD)
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client_mgr = erpc.client.ClientManager(xport, erpc.basic_codec.BasicCodec)
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api = client.servo_serviceClient(client_mgr)
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angles = [0.0] * JOINT_COUNT
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while True:
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costs_ms = []
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for _ in range(N):
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t0 = time.perf_counter()
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api.moveJ(angles)
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t1 = time.perf_counter()
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costs_ms.append((t1 - t0) * 1000.0)
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print(f"N={N}")
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print(f"avg = {statistics.mean(costs_ms):.3f} ms")
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print(f"min = {min(costs_ms):.3f} ms")
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print(f"max = {max(costs_ms):.3f} ms")
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if N >= 2:
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print(f"p50 = {statistics.median(costs_ms):.3f} ms")
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print(f"p95 ~= {sorted(costs_ms)[int(0.95 * (N - 1))]:.3f} ms")
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if __name__ == "__main__":
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main()
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