57 lines
1.3 KiB
Python
57 lines
1.3 KiB
Python
import sys
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import os
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ROOT_DIR = os.path.dirname(os.path.dirname(__file__))
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sys.path.append(ROOT_DIR)
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os.chdir(ROOT_DIR)
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import time
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import numpy as np
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from diffusion_policy.common.precise_sleep import precise_sleep, precise_wait
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def test_sleep():
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dt = 0.1
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tol = 1e-3
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time_samples = list()
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for i in range(100):
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precise_sleep(dt)
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# time.sleep(dt)
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time_samples.append(time.monotonic())
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time_deltas = np.diff(time_samples)
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from matplotlib import pyplot as plt
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plt.plot(time_deltas)
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plt.ylim((dt-tol,dt+tol))
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def test_wait():
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dt = 0.1
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tol = 1e-3
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errors = list()
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t_start = time.monotonic()
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for i in range(1,100):
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t_end_desired = t_start + i * dt
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time.sleep(t_end_desired - time.monotonic())
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t_end = time.monotonic()
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errors.append(t_end - t_end_desired)
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new_errors = list()
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t_start = time.monotonic()
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for i in range(1,100):
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t_end_desired = t_start + i * dt
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precise_wait(t_end_desired)
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t_end = time.monotonic()
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new_errors.append(t_end - t_end_desired)
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from matplotlib import pyplot as plt
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plt.plot(errors, label='time.sleep')
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plt.plot(new_errors, label='sleep/spin hybrid')
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plt.ylim((-tol,+tol))
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plt.title('0.1 sec sleep error')
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plt.legend()
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if __name__ == '__main__':
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test_sleep()
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