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Set a maximum number of accepted deadline miss the the AdvanceableRunner #726

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merged 4 commits into from
Sep 25, 2023
Merged

Set a maximum number of accepted deadline miss the the AdvanceableRunner #726

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b580d89
Set a maximum number of accepted deadline miss the the AdvanceableRunner
GiulioRomualdi Sep 22, 2023
f9fdc7c
Update the CHANGELOG.md
GiulioRomualdi Sep 22, 2023
5b6d71c
Remove the possibility to disable the telemetry in AdvanceableRunner
GiulioRomualdi Sep 25, 2023
29e22af
Merge branch 'master' into advanceable_runner_deadline_miss
GiulioRomualdi Sep 25, 2023
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4 changes: 4 additions & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,10 @@ All notable changes to this project are documented in this file.

### Added
- Add the possibility to control a subset of coordinates in `TSID::CoMTask` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/724, https://github.com/ami-iit/bipedal-locomotion-framework/pull/727)
- Add the possibility to set the maximum number of accepted deadline miss in `System::AdvanceableRunner` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/726)

### Changed
- Remove the possibility to disable the telemetry in `System::AdvanceableRunner` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/726)

## [0.15.0] - 2023-09-05
### Added
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75 changes: 46 additions & 29 deletions src/System/include/BipedalLocomotion/System/AdvanceableRunner.h
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Expand Up @@ -52,12 +52,12 @@ template <class _Advanceable> class AdvanceableRunner
bool m_isInitialized{false}; /**< True if the runner is initialized */
std::chrono::nanoseconds m_dT{std::chrono::nanoseconds::zero()}; /**< Period of the runner */
std::atomic<bool> m_isRunning{false}; /**> If True the runner is running */
int m_maximumNumberOfAcceptedDeadlineMiss{-1}; /**< Maximum number of accepted deadline miss */

std::unique_ptr<_Advanceable> m_advanceable; /**< Advanceable contained in the runner */
typename SharedResource<Input>::Ptr m_input; /**< Input shared resource */
typename SharedResource<Output>::Ptr m_output; /**< Output shared resource */

bool m_isTelemetryEnabled{false}; /**< If true some additional information will be stored */
struct Info
{
unsigned int deadlineMiss{0}; /**< Number of deadline miss */
Expand All @@ -73,10 +73,10 @@ template <class _Advanceable> class AdvanceableRunner
* Initialize the AdvanceableRunner class
* @param handler pointer to a parameter handler
* @note The following parameters are required
* | Parameter Name | Type | Description | Mandatory |
* |:------------------:|:--------:|:---------------------------------------------------------------------:|:---------:|
* | `sampling_time` | `double` | Strictly positive number representing the sampling time in seconds | Yes |
* | `enable_telemetry` | `bool` | If True some additional information are stored. Default value `false` | No |
* | Parameter Name | Type | Description | Mandatory |
* |:------------------------------------------:|:--------:|:---------------------------------------------------------------------------------------------:|:---------:|
* | `sampling_time` | `double` | Strictly positive number representing the sampling time in seconds | Yes |
* | `maximum_number_of_accepted_deadline_miss` | `int` | Number of accepted deadline miss. if negative the check is not considered. Default value `-1` | No |
* @return true in case of success, false otherwise.
*/
bool initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> handler);
Expand Down Expand Up @@ -165,12 +165,13 @@ bool AdvanceableRunner<_Advanceable>::initialize(

m_dT = m_info.dT;

if (!ptr->getParameter("enable_telemetry", m_isTelemetryEnabled))
if (!ptr->getParameter("maximum_number_of_accepted_deadline_miss",
m_maximumNumberOfAcceptedDeadlineMiss))
{
log()->info("{} enable_telemetry parameter not found. The default parameter will be used: "
"{}.",
log()->info("{} maximum_number_of_accepted_deadline_miss parameter not found. The default "
"parameter will be used: {}.",
errorPrefix,
m_isTelemetryEnabled);
m_maximumNumberOfAcceptedDeadlineMiss);
}

m_isInitialized = true;
Expand Down Expand Up @@ -314,35 +315,51 @@ AdvanceableRunner<_Advanceable>::run(std::optional<std::reference_wrapper<Barrie
// set the output
this->m_output->set(this->m_advanceable->getOutput());

// release the CPU
BipedalLocomotion::clock().yield();

// this is enabled only if telemetry is set to true.
if (m_isTelemetryEnabled && wakeUpTime < BipedalLocomotion::clock().now())
// check if the deadline is missed
if (wakeUpTime < BipedalLocomotion::clock().now())
{
std::lock_guard<std::mutex> guard(m_infoMutex);
m_info.deadlineMiss++;
unsigned int deadlineMiss = 0;

// scope to reduce the amount of time in which the mutex is locked
{
std::lock_guard<std::mutex> guard(m_infoMutex);
m_info.deadlineMiss++;
deadlineMiss = m_info.deadlineMiss;
}

if (m_maximumNumberOfAcceptedDeadlineMiss >= 0
&& deadlineMiss > m_maximumNumberOfAcceptedDeadlineMiss)
{
// we have to close the runner
m_isRunning = false;
log()->error("{} - {} Experienced {} deadline misses. The maximum accepted "
"number is {}.",
logPrefix,
m_info.name,
deadlineMiss,
m_maximumNumberOfAcceptedDeadlineMiss);
break;
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This is done only when telemetry is enabled, is this intentional? Or perhaps know that deadlineMiss is used for something else we should change the logic?

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This is done only when telemetry is enabled, is this intentional

Before I used it just to print some info at the end of the application but probably now it's better to keep this always active. What do you think?

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In 5b6d71c I removed the possibility to disable the telemetry so the check will be always active

}
}

// release the CPU
BipedalLocomotion::clock().yield();

BipedalLocomotion::clock().sleepUntil(wakeUpTime);
}

log()->info("{} - {}: Closing the AdvanceableRunner.", logPrefix, m_info.name);
if (m_isTelemetryEnabled)
unsigned int deadlineMiss = 0;
// scope to reduce the amount of time in which the mutex is locked
{
unsigned int deadlineMiss = 0;
std::lock_guard<std::mutex> guard(m_infoMutex);
deadlineMiss = m_info.deadlineMiss;
}

// scope to reduce the amount of time in which the mutex is locked
{
std::lock_guard<std::mutex> guard(m_infoMutex);
deadlineMiss = m_info.deadlineMiss;
}
log()->info("{} - {}: Closing the AdvanceableRunner. Number of deadline miss {}.",
logPrefix,
m_info.name,
deadlineMiss);

log()->info("{} - {}: Number of deadline miss {}.",
logPrefix,
m_info.name,
deadlineMiss);
}
return this->m_advanceable->close();
};

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