diff options
Diffstat (limited to 'robot/hypervisor.c')
| -rw-r--r-- | robot/hypervisor.c | 32 |
1 files changed, 28 insertions, 4 deletions
diff --git a/robot/hypervisor.c b/robot/hypervisor.c index 8c22316..0350163 100644 --- a/robot/hypervisor.c +++ b/robot/hypervisor.c @@ -1,3 +1,8 @@ +#include <stdlib.h> +#include <time.h> +#include <stdio.h> +#include <unistd.h> + #include "consts.h" #include "errcatch.h" #include "hypervisor.h" @@ -7,12 +12,31 @@ #include "orangutan_shim.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; + + char* message = malloc(80); + sprintf(message, "sercomm: %lums ", sercomm_time); + serial_send(message, 80); + sprintf(message, "errcatch: %lums ", errcatch_time); + serial_send(message, 80); + sprintf(message, "io: %lums ", io_time); + serial_send(message, 80); + sprintf(message, "mode: %lums ", mode_time); + serial_send(message, 80); + sprintf(message, " "); + serial_send(message, 80); + free(message); + + usleep(100e3); + + if (mode_time > W2_MAX_MODULE_CYCLE_MS) w2_errcatch_throw(W2_ERR_CYCLE_EXPIRED); } |