diff options
Diffstat (limited to 'robot/hypervisor.c')
| -rw-r--r-- | robot/hypervisor.c | 24 |
1 files changed, 18 insertions, 6 deletions
diff --git a/robot/hypervisor.c b/robot/hypervisor.c index 381d9af..2e263ce 100644 --- a/robot/hypervisor.c +++ b/robot/hypervisor.c @@ -1,19 +1,31 @@ -#include <pololu/orangutan.h> - #include "consts.h" #include "errcatch.h" #include "hypervisor.h" #include "io.h" #include "modes.h" +#include "orangutan_shim.h" #include "sercomm.h" void w2_hypervisor_main() { + time_reset(); + w2_sercomm_main(); + unsigned long sercomm_time = get_ms(); w2_errcatch_main(); + unsigned long errcatch_time = get_ms() - sercomm_time; w2_io_main(); - - time_reset(); + unsigned long io_time = get_ms() - errcatch_time; w2_modes_main(); - unsigned long elapsed_ms = get_ms(); - if (elapsed_ms > W2_MAX_MODULE_CYCLE_MS) w2_errcatch_throw(W2_ERR_CYCLE_EXPIRED); + unsigned long mode_time = get_ms() - io_time; + + #ifdef W2_SIM + siminfo("sercomm: %lums\n", sercomm_time); + siminfo("errcatch: %lums\n", errcatch_time); + siminfo("io: %lums\n", io_time); + siminfo("mode: %lums\n", mode_time); + + usleep(100e3); + #endif + + if (mode_time > W2_MAX_MODULE_CYCLE_MS) w2_errcatch_throw(W2_ERR_CYCLE_EXPIRED); } |