Pythonによる定期処理(10ms)精度確認スクリプト

timer_test.py

#!/usr/bin/env python3

import time
import numpy as np
from threading import Timer

class RepeatedTimer(Timer):
  def __init__(self, interval, function, args=[], kwargs={}):
    Timer.__init__(self, interval, self.run, args, kwargs)
    self.thread = None
    self.function = function

  def run(self):
    self.thread = Timer(self.interval, self.run)
    self.thread.start()
    self.function(*self.args, **self.kwargs)

  def cancel(self):
    if self.thread is not None:
      self.thread.cancel()
      self.thread.join()
      del self.thread

class Log:
    def __init__(self):
        self.logs = []

    def add(self, data):
        self.logs.append(data)

    def get(self):
        return self.logs

def func(logger):
    logger.add(time.perf_counter())

log = Log()

t = RepeatedTimer(0.01, func, [log])
t.start()
time.sleep(1)
t.cancel()

diff = np.diff(log.get())
print("mean:", np.mean(diff) * 1000, "[ms]")
print("median:", np.median(diff) * 1000, "[ms]")
print("stddev:", np.std(diff) * 1000, "[ms]")
print("---------------")
print(diff)