Mercurial > hg > beaglert
changeset 139:4e2dd3eb1d28 ClockSync
The reported offset is now meaningful. The whole thing is waaay too jittery.
| author | Giulio Moro <giuliomoro@yahoo.it> |
|---|---|
| date | Sun, 13 Sep 2015 21:34:47 +0100 |
| parents | 53e3c0a3295d |
| children | 5edc6d0713ef |
| files | .cproject core/ClockSync.cpp core/ClockSyncThread.cpp core/VirtualClock.cpp |
| diffstat | 4 files changed, 20 insertions(+), 18 deletions(-) [+] |
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--- a/.cproject Sun Sep 13 21:33:01 2015 +0100 +++ b/.cproject Sun Sep 13 21:34:47 2015 +0100 @@ -108,11 +108,11 @@ </extensions> </storageModule> <storageModule moduleId="cdtBuildSystem" version="4.0.0"> - <configuration artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release,org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.exe.release.1521194538" name="Release" parent="cdt.managedbuild.config.gnu.exe.release" postannouncebuildStep="Stopping process on BBB and copying new binary" postbuildStep="scp ${PWD}/${BuildArtifactFileName} root@192.168.7.2:~/beaglert/ && echo 'done copying\n' | wall || echo 'error'|wall"> + <configuration artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release,org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.exe.release.1521194538" name="Release" parent="cdt.managedbuild.config.gnu.exe.release" postannouncebuildStep="Stopping process on BBB and copying new binary" postbuildStep="ssh root@192.168.7.2 "kill -s 9 \`pidof ${BuildArtifactFileName}\` 2>/dev/null; sleep 0.5;"; scp ${PWD}/${BuildArtifactFileName} root@192.168.7.2:beaglert/ && echo 'done copying\n' | wall || echo 'error'|wall"> <folderInfo id="cdt.managedbuild.config.gnu.exe.release.1521194538." name="/" resourcePath=""> <toolChain id="cdt.managedbuild.toolchain.gnu.exe.release.1612059942" name="Linux GCC" superClass="cdt.managedbuild.toolchain.gnu.exe.release"> <targetPlatform id="cdt.managedbuild.target.gnu.platform.exe.release.908983575" name="Debug Platform" superClass="cdt.managedbuild.target.gnu.platform.exe.release"/> - <builder buildPath="${workspace_loc:/BBB_audio+input/Release}" id="cdt.managedbuild.target.gnu.builder.exe.release.511190290" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" superClass="cdt.managedbuild.target.gnu.builder.exe.release"/> + <builder arguments="-j6" buildPath="${workspace_loc:/BBB_audio+input/Release}" command="make" id="cdt.managedbuild.target.gnu.builder.exe.release.511190290" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" superClass="cdt.managedbuild.target.gnu.builder.exe.release"/> <tool command="arm-linux-gnueabihf-g++ " id="cdt.managedbuild.tool.gnu.archiver.base.810674388" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.base"/> <tool command="arm-linux-gnueabihf-g++" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${INPUTS}" id="cdt.managedbuild.tool.gnu.cpp.compiler.exe.release.163790048" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.exe.release"> <option id="gnu.cpp.compiler.exe.release.option.optimization.level.2031085570" name="Optimization Level" superClass="gnu.cpp.compiler.exe.release.option.optimization.level" value="gnu.cpp.compiler.optimization.level.more" valueType="enumerated"/>
--- a/core/ClockSync.cpp Sun Sep 13 21:33:01 2015 +0100 +++ b/core/ClockSync.cpp Sun Sep 13 21:34:47 2015 +0100 @@ -14,9 +14,9 @@ T1p=-1; T2=-1; T2p=-1; - receiveLoopSleepUs=10; + receiveLoopSleepUs=100; receiveLoopTimeout=1e5; - movingAverage.setLength(201); + movingAverage.setLength(31); expectedClockSyncType=isSlave() ? kSync : kNone; } ClockSync::ClockSync(bool thisIsSlave, int aPort, VirtualClock &aVirtualClock){ @@ -41,6 +41,7 @@ ((int*)buffer)[0]=clockSyncType; } void ClockSync::setTimestamp(myClock_t timestamp){ +// printf("setting timestamp: %lld\n", timestamp); ((myClock_t*)((char*)buffer+sizeof(int)))[0]=timestamp; } void ClockSync::print(){ @@ -146,13 +147,13 @@ localTimestamp=receive(); if(localTimestamp<=0){ if(localTimestamp==0){ - // //printf("Socket not ready to be read: %lld\n", localTimestamp); +// printf("Socket not ready to be read: %lld\n", localTimestamp); } else if(localTimestamp==-1){ - //printf("Error while receiving: %lld\n", localTimestamp); + printf("Error while receiving: %lld\n", localTimestamp); } else if(localTimestamp==-2){ - // //printf("Wrong size of the received clockSync: %lld\n", localTimestamp); + printf("Wrong size of the received clockSync: %lld\n", localTimestamp); } continue ; //keep waiting } @@ -162,7 +163,7 @@ //printf("Wrong clockSync type: %d, expected: %d\n",clockSyncType, expectedClockSyncType); return -2; //start over } - //printf("Received clockSync type: %d, clockSyncTimestamp: %lld\n", clockSyncType, clockSyncTimestamp); +// printf("Received clockSync type: %d, clockSyncTimestamp: %lld\n", clockSyncType, clockSyncTimestamp); if(isSlave()==true){ int ret=slaveHandleMessage(); if(ret==1 && clockSyncType==kDelayResp){ //we are done, end of a cycle! @@ -208,7 +209,8 @@ T2p=clockSyncTimestamp; //TODO: evaluate things double offset=(T1p-T1-T2p+T2)/2.0d; - printf("-----------OFFSET IS : %04.1f, average: %04.2f\n", offset, movingAverage.add(offset)); + printf("-----------OFFSET IS : %04.4f seconds, average: %04.4f seconds\n", + offset/44100.f, movingAverage.add(offset)/44100.f); expectedClockSyncType=kSync; //end of the cycle, wait for next sync. break; }
--- a/core/ClockSyncThread.cpp Sun Sep 13 21:33:01 2015 +0100 +++ b/core/ClockSyncThread.cpp Sun Sep 13 21:34:47 2015 +0100 @@ -31,7 +31,7 @@ startThread(5); #else threadIsExiting=false; - clockSyncTask=BeagleRT_createAuxiliaryTask(&ClockSyncThread::run,98, "clockSyncTask"); + clockSyncTask=BeagleRT_createAuxiliaryTask(&ClockSyncThread::run,60, "clockSyncTask"); //TODO: the thread cannot be started here at the moment because init() is called in setup(), where tasks cannot be scheduled #endif /* USE_JUCE */ } @@ -58,9 +58,8 @@ void ClockSyncThread::run(){ while(!threadShouldExit()){ clockSync.sendReceiveLoop(); - usleep(5000); // double now=virtualClock->getNow(); -// printf("th(end+1)=%f;\n", now/44100.0f); +// printf("th(end+1)=%f;\n", now); // printf("act(end+1)=%lld;\n", Clock::getTimeUs()); } printf("Thread is not running \n");
--- a/core/VirtualClock.cpp Sun Sep 13 21:33:01 2015 +0100 +++ b/core/VirtualClock.cpp Sun Sep 13 21:34:47 2015 +0100 @@ -20,19 +20,20 @@ period=movingAverage.add((currentTime-lastSync)/count); //TODO: replace with Kalman filter } lastSync=currentTime; +// printf("lastSync: %lld\n",lastSync-startTime); } double VirtualClock::getNow(){ - myClock_t now=Clock::getTimeUs(); + myClock_t currentSystemTime=Clock::getTimeUs(); if(period<=0){ - return now; + return currentSystemTime; } // double beginningOfPeriod=lastSync; // TODO: if sync() does not get called every time (but e.g. only every so often), // then this line (and the class) needs editing - myClock_t elapsed=(now-startTime); - double frac=elapsed/(double)period; - // printf("now=%lld; beginningOfPeriod=%f; lastSync=%lld; period=%lld; frac=%f\n", now, beginningOfPeriod, lastSync, period, frac); - return frac; + myClock_t elapsed=(currentSystemTime-startTime); + double now=elapsed/(double)period; +// printf("elapsed=%lld; sincelastSync=%lld; period=%f; now=%f\n", elapsed, currentSystemTime-lastSync, period, now); + return now; } double VirtualClock::getPeriod(){