butiac_benchmark.c

#include <unistd.h>

#ifdef __MACH__
#include <mach/clock.h>
#include <mach/mach.h>
#endif

#include "butiac.h"
#include "list.h"

READS = 10000;

int main(int argc, char **argv) {

	// butia c init
    libusb_context *context = NULL;
	CHECK_LIBUSB_RETURNED(libusb_init(&context));

	board *robot;
	int ret = butiac_init_singleboard(&robot);
	DEBUG_PRINT_D("Board init: ", ret)
	CHECK_LIBUSB_RETURNED(ret)


	module dist = { robot, distanc, 1, 0 };

	list *times = lnew();

	#ifdef __MACH__ // OS X does not have clock_gettime, use clock_get_time
	mach_timespec_t test_start;
	mach_timespec_t test_end;
	mach_timespec_t before;
	mach_timespec_t after;
	clock_serv_t cclock;
	host_get_clock_service(mach_host_self(), CALENDAR_CLOCK, &cclock);
	clock_get_time(cclock, &test_start);
	#else
	struct timespec test_start;
	struct timespec test_end;
	struct timespec before;
	struct timespec after;
	clock_gettime(CLOCK_MONOTONIC, &test_start);
	#endif

	for(int i = 0; i < READS; i++){

		#ifdef __MACH__
		clock_get_time(cclock, &before);
		#else
		clock_gettime(CLOCK_MONOTONIC, &before);
		#endif

	    int val = mod_getvalue(&dist);

		#ifdef __MACH__
		clock_get_time(cclock, &after);
		#else
		clock_gettime(CLOCK_MONOTONIC, &after);
		#endif

	    double *value = malloc(sizeof(double));
	    *value = ((double)after.tv_sec + 1.0e-9*after.tv_nsec) - 
        	((double)before.tv_sec + 1.0e-9*before.tv_nsec);
	    ladd(times, value);

	    printf("read num %d: %d\n", i, val);

	}
	#ifdef __MACH__
	clock_get_time(cclock, &test_end);
	#else
	clock_gettime(CLOCK_MONOTONIC, &test_end);
	#endif
	mach_port_deallocate(mach_task_self(), cclock);

	double sum = 0;
	node *iter = times->head;
	for(int i = 0; i < times->size; i++) {
	    sum += *(double*)(iter->value);
	    iter = iter->next;
	}

	double total_seconds = 
		((double)test_end.tv_sec + 1.0e-9*test_end.tv_nsec) - 
        ((double)test_start.tv_sec + 1.0e-9*test_start.tv_nsec);

	printf("total reads: %u\n", READS);
	printf("avg sensor read time: %f\n", (sum / READS)); 
	printf("total test time: %f\n", total_seconds);

	board_close(robot);

	libusb_exit(context);
	return 0;

}

pybot_benchmark.py

from time import time
from usb4butia import USB4Butia

rb = USB4Butia()
times = []
READS = 10000

test_start = time()

for x in range(READS):

    before = time()

    val = rb.getDistance(1)

    after = time()

    print("read num " + str(x) + ": " + str(val))
    times.append(after - before)

test_end = time()

print("total reads: " + str(READS))
print("avg sensor read time: " + str(sum(times)/READS))
print("total test time: " + str(test_end - test_start))