code release

tests/test_precise_sleep.py

@@ -0,0 +1,56 @@
+import sys
+import os
+
+ROOT_DIR = os.path.dirname(os.path.dirname(__file__))
+sys.path.append(ROOT_DIR)
+os.chdir(ROOT_DIR)
+
+import time
+import numpy as np
+from diffusion_policy.common.precise_sleep import precise_sleep, precise_wait
+
+
+def test_sleep():
+    dt = 0.1
+    tol = 1e-3
+    time_samples = list()
+    for i in range(100):
+        precise_sleep(dt)
+        # time.sleep(dt)
+        time_samples.append(time.monotonic())
+    time_deltas = np.diff(time_samples)
+
+    from matplotlib import pyplot as plt
+    plt.plot(time_deltas)
+    plt.ylim((dt-tol,dt+tol))
+
+
+def test_wait():
+    dt = 0.1
+    tol = 1e-3
+    errors = list()
+    t_start = time.monotonic()
+    for i in range(1,100):
+        t_end_desired = t_start + i * dt
+        time.sleep(t_end_desired - time.monotonic())
+        t_end = time.monotonic()
+        errors.append(t_end - t_end_desired)
+
+    new_errors = list()
+    t_start = time.monotonic()
+    for i in range(1,100):
+        t_end_desired = t_start + i * dt
+        precise_wait(t_end_desired)
+        t_end = time.monotonic()
+        new_errors.append(t_end - t_end_desired)
+    
+    from matplotlib import pyplot as plt
+    plt.plot(errors, label='time.sleep')
+    plt.plot(new_errors, label='sleep/spin hybrid')
+    plt.ylim((-tol,+tol))
+    plt.title('0.1 sec sleep error')
+    plt.legend()
+
+    
+if __name__ == '__main__':
+    test_sleep()