######################################################
# testing activities
# this test aims at characterizing the CPU
testing = 1
dynamics_plot_online = 0
if testing == 1:
sleepTimeTest = [ cpu_model(x) for x in cpuSequence]
data = {"x":[], "y":[]}
for sleepTime in sleepTimeTest:
monitor = MonitorThread(0, 0.1)
monitor.setSleepTimeTarget(sleepTime)
monitor.start()
actuator = openLoopActuator(monitor, 10, 0, dynamics_plot_online)
actuator.setSleepTime(sleepTime)
actuator.run()
monitor.running = 0
dynamics = monitor.getDynamics()
actuator.close()
monitor.join()
data['x'].append(sleepTime)
data['y'].append(sum(dynamics['cpu']) / float(len(dynamics['cpu'])))
monitor.running = 0
monitor.join()
if not dynamics_plot_online:
testing = 1
dynamics_plot_online = 0
if testing == 1:
sleepTimeSequence = [
0.001, 0.005, 0.01, 0.02, 0.03, 0.08, 0.1, 0.15, 0.2, 0.3, 0.4, 0.5
]
cpuSequence = [
0.1, 0.8, 0.30, 0.70, 0.40, 0.10, 0.20, 0.60, 0.20, 0.70
]
#cpuSequence = [ 0.80]
#sleepTimeSequence = [0.001, 0.02]
sleepTimeSequence = [cpu_model(x) for x in cpuSequence]
stepPeriod = 4
monitor = MonitorThread(0, 0.1)
actuator = openLoopActuator(monitor,
len(sleepTimeSequence) * stepPeriod, 0,
dynamics_plot_online)
monitor.start()
actuator.run_sequence(sleepTimeSequence)
monitor.running = 0
dynamics = monitor.getDynamics()
actuator.close()
monitor.join()
with open('feed_forward_data', 'w') as outfile:
json.dump(dynamics, outfile)
else:
with open('feed_forward_data', 'r') as outfile:
dynamics = json.load(outfile)
######################################################
# FEEDFORWARD TEST #
######################################################
# testing activities
# this test aims at characterizing the CPU
testing = 1
dynamics_plot_online = 0
if testing == 1:
sleepTimeSequence = [0.001, 0.005, 0.01, 0.02, 0.03, 0.08, 0.1, 0.15, 0.2, 0.3, 0.4, 0.5]
cpuSequence = [0.1, 0.8, 0.30, 0.70, 0.40, 0.10, 0.20, 0.60, 0.20, 0.70]
#cpuSequence = [ 0.80]
#sleepTimeSequence = [0.001, 0.02]
sleepTimeSequence = [ cpu_model(x) for x in cpuSequence]
stepPeriod = 4
monitor = MonitorThread(0, 0.1)
actuator = openLoopActuator(monitor, len(sleepTimeSequence) * stepPeriod, 0, dynamics_plot_online)
monitor.start()
actuator.run_sequence(sleepTimeSequence)
monitor.running = 0
dynamics = monitor.getDynamics()
actuator.close()
monitor.join()
with open('feed_forward_data', 'w') as outfile:
json.dump(dynamics, outfile)
else:
with open('feed_forward_data', 'r') as outfile:
dynamics = json.load(outfile)
plt.figure()
