public bool increment(double time)
{
_cumulativeLag += AnimusUtils.ConvertToTimestamp(DateTime.Now) - time;
_count++;
if (_count < _interval)
{
return(false);
}
var numMs = _stpw.ElapsedMilliseconds;
AverageFps = ((float)_count) / (numMs / 1000.0f);
AverageLag = (float)_cumulativeLag * 1000 / _count;
if (verbose)
{
if (time < 0)
{
Debug.Log($"{_channelName} : {AverageFps:F2} ------- {_desc}");
}
else
{
Debug.Log($"{_channelName} : {AverageFps:F2} ------- {AverageLag:F2}ms lag -- {_desc}");
}
}
_cumulativeLag = 0;
_count = 0;
_stpw.Reset();
_stpw.Start();
return(true);
}
private void Update()
{
if (!_modalityEnabled || internalFlag)
{
return;
}
try
{
threadNewSamp = AnimusClient.AnimusClient.GetModality(robotID, modalityName, false);
if (threadNewSamp == null)
{
return;
}
if (threadNewSamp.Error != null)
{
if (threadNewSamp.Error.Success)
{
updateNewSamp = AnimusUtils.DecodeData(threadNewSamp.Sample);
setModality.Invoke(client, new object[] { updateNewSamp.Data });
setModalityFPS.increment(-1);
}
}
}
catch (Exception e)
{
Debug.Log($"Set Modality error for {modalityName} modality: {e}");
}
}
