public static void Main()
{
double ret;//held here to ensure cals are actually done
//in Hz
const long radioFrequency = 250;
const long motorFrequency = 500;
const long sensorFrequency = 250;
const long statusFrequency = 1;
long lastRadioTime = DateTime.Now.Ticks;
long lastMotorTime = DateTime.Now.Ticks;
long lastSensorTime = DateTime.Now.Ticks;
long lastInfoTime = DateTime.Now.Ticks;
const long loopUnit = 10000000;
GCTests gctest = new GCTests();
long loopCounter = 1;
long sensorCounter = 1;
long motorCounter = 1;
long radioCounter = 1;
Debug.EnableGCMessages(true);
DateTime start = DateTime.Now;
while (true)
{
long currentTime = DateTime.Now.Ticks;
if ((currentTime > (lastRadioTime + (loopUnit / radioFrequency))))
{
ret = gctest.RunMathOperationWithGc();
lastRadioTime = DateTime.Now.Ticks;
radioCounter++;
}
if ((currentTime > (lastMotorTime + (loopUnit / motorFrequency))))
{
ret = gctest.RunMathOperationWithGc();
lastMotorTime = DateTime.Now.Ticks;
motorCounter++;
}
if ((currentTime > (lastSensorTime + (loopUnit / sensorFrequency))))
{
ret = gctest.RunMathOperationWithGc();
lastSensorTime = DateTime.Now.Ticks;
sensorCounter++;
}
loopCounter++;
if ((currentTime > (lastInfoTime + (loopUnit / statusFrequency))))
{
DateTime end = DateTime.Now;
TimeSpan span = end - start;
long loopFrequency = (span.Ticks * loopCounter) / loopUnit;
long sensorActualFrequency = (span.Ticks * sensorCounter) / loopUnit;
long motorActualFrequency = (span.Ticks * motorCounter) / loopUnit;
long radioActualFrequency = (span.Ticks * radioCounter) / loopUnit;
Debug.Print("o" + loopFrequency);
Debug.Print("s" + sensorActualFrequency);
Debug.Print("m" + motorActualFrequency);
Debug.Print("r" + radioActualFrequency);
loopCounter = 0;
sensorCounter = 0;
motorCounter = 0;
radioCounter = 0;
start = DateTime.Now;
lastInfoTime = DateTime.Now.Ticks;
}
}
}
public static void Main()
{
double ret;//held here to ensure cals are actually done
//in Hz
const long radioFrequency = 250;
const long motorFrequency = 500;
const long sensorFrequency = 250;
const long statusFrequency = 1;
long lastRadioTime= DateTime.Now.Ticks;
long lastMotorTime = DateTime.Now.Ticks;
long lastSensorTime = DateTime.Now.Ticks;
long lastInfoTime = DateTime.Now.Ticks;
const long loopUnit = 10000000;
GCTests gctest = new GCTests();
long loopCounter = 1;
long sensorCounter = 1;
long motorCounter=1;
long radioCounter = 1;
Debug.EnableGCMessages(true);
DateTime start = DateTime.Now;
while (true)
{
long currentTime = DateTime.Now.Ticks;
if ((currentTime > (lastRadioTime + (loopUnit / radioFrequency))))
{
ret = gctest.RunMathOperationWithGc();
lastRadioTime = DateTime.Now.Ticks;
radioCounter++;
}
if ((currentTime > (lastMotorTime + (loopUnit / motorFrequency))))
{
ret = gctest.RunMathOperationWithGc();
lastMotorTime = DateTime.Now.Ticks;
motorCounter++;
}
if ((currentTime > (lastSensorTime + (loopUnit / sensorFrequency))))
{
ret = gctest.RunMathOperationWithGc();
lastSensorTime = DateTime.Now.Ticks;
sensorCounter++;
}
loopCounter++;
if ((currentTime > (lastInfoTime + (loopUnit / statusFrequency))))
{
DateTime end = DateTime.Now;
TimeSpan span = end - start;
long loopFrequency = (span.Ticks * loopCounter) / loopUnit;
long sensorActualFrequency = (span.Ticks * sensorCounter) / loopUnit;
long motorActualFrequency = (span.Ticks * motorCounter) / loopUnit;
long radioActualFrequency = (span.Ticks * radioCounter) / loopUnit;
Debug.Print("o"+loopFrequency);
Debug.Print("s" + sensorActualFrequency);
Debug.Print("m" + motorActualFrequency);
Debug.Print("r" + radioActualFrequency);
loopCounter = 0;
sensorCounter = 0;
motorCounter = 0;
radioCounter = 0;
start = DateTime.Now;
lastInfoTime = DateTime.Now.Ticks;
}
}
}
