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d/dai: Do some tracing on IMU samples

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This commit is contained in:
Jakob Bornecrantz 2023-05-23 10:11:21 +01:00
parent b6a1a2b390
commit 5b8a68fce5
1 changed files with 30 additions and 0 deletions
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30
src/xrt/drivers/depthai/depthai_driver.cpp
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@ -566,6 +566,7 @@ depthai_do_one_imu_frame(struct depthai_fs *depthai)
}
// Prepare sample
xrt_imu_sample sample;
sample.timestamp_ns = ts;
sample.accel_m_s2.x = a.x;
@ -575,7 +576,36 @@ depthai_do_one_imu_frame(struct depthai_fs *depthai)
sample.gyro_rad_secs.x = g.x;
sample.gyro_rad_secs.y = g.y;
sample.gyro_rad_secs.z = g.z;
// Sample prepared, now push it out.
xrt_sink_push_imu(depthai->imu_sink, &sample);
// Only do this if we are really debugging stuff.
#ifdef XRT_FEATURE_TRACING
static timepoint_ns last_ns = 0;
if (last_ns == 0) {
last_ns = ts - U_TIME_1MS_IN_NS; // Just so it isn't zero.
}
timepoint_ns now_ns = (timepoint_ns)os_monotonic_get_ns();
timepoint_ns now_diff_ns = ts - now_ns;
timepoint_ns last_diff_ns = ts - last_ns;
last_ns = ts;
double now_diff_ms = time_ns_to_ms_f(now_diff_ns);
double last_diff_ms = time_ns_to_ms_f(last_diff_ns);
float gyro_length = m_vec3_len(g);
float weighted_gyro_length = gyro_length * time_ns_to_s(last_diff_ns);
#ifdef U_TRACE_TRACY
TracyCPlot("DepthAI IMU to now(ms)", now_diff_ms);
TracyCPlot("DepthAI IMU to last(ms)", last_diff_ms);
TracyCPlot("DepthAI IMU num packets", num_packets);
TracyCPlot("DepthAI IMU gyro length", gyro_length);
TracyCPlot("DepthAI IMU gyro weighted length", weighted_gyro_length);
#endif
#endif
}
static void *