Finish RampUp

- Waiting Time is adjusted to command execution time (IO) #57 non-breaking
sharpbrick · Dec 23, 2020 · 57109a0 · 57109a0
1 parent e7ba9a8
commit 57109a0
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Showing 2 changed files with 22 additions and 4 deletions.
diff --git a/examples/SharpBrick.PoweredUp.Examples/ExampleRampUp.cs b/examples/SharpBrick.PoweredUp.Examples/ExampleRampUp.cs
@@ -23,7 +23,7 @@ public override async Task ExecuteAsync()
                 await technicMediumHub.RgbLight.SetRgbColorNoAsync(PoweredUpColor.Red);
 
                 stopWatch.Start();
-                await rampUp.ExecuteAsync(motor, 20, 100, 40, 5_000);
+                await rampUp.ExecuteAsync(motor, 20, 100, 40, 10_000);
                 var redPhase = stopWatch.ElapsedMilliseconds;
 
                 await technicMediumHub.RgbLight.SetRgbColorNoAsync(PoweredUpColor.Green);
@@ -36,7 +36,7 @@ public override async Task ExecuteAsync()
                 var rampDown = ServiceProvider.GetService<LinearSpeedChange>();
 
                 var beforeOrangePhase = stopWatch.ElapsedMilliseconds;
-                await rampDown.ExecuteAsync(motor, 100, 0, 100, 10_000);
+                await rampDown.ExecuteAsync(motor, 100, 0, 100, 20_000);
                 var orangePhase = stopWatch.ElapsedMilliseconds - beforeOrangePhase;
                 stopWatch.Stop();
 

diff --git a/src/SharpBrick.PoweredUp/Functions/IterativeChange.cs b/src/SharpBrick.PoweredUp/Functions/IterativeChange.cs
@@ -1,3 +1,4 @@
+using System.Diagnostics;
 using System.Threading;
 using System.Threading.Tasks;
 using Microsoft.Extensions.Logging;
@@ -7,22 +8,26 @@ namespace SharpBrick.PoweredUp.Functions
     public abstract class IterativeChange<T>
     {
         private readonly ILogger<IterativeChange<T>> _logger;
+        private readonly Stopwatch _stopwatch;
 
         protected abstract T Function(int idx);
         protected abstract Task ChangeAsync(T value, CancellationTokenSource cts);
 
         public IterativeChange(ILogger<IterativeChange<T>> logger)
         {
             _logger = logger;
+            _stopwatch = new Stopwatch();
         }
 
         protected async Task IterativeExecuteAsync(int iterations, int delayInMilliseconds, CancellationTokenSource cts = default)
         {
             _logger.LogInformation($"Start iterative change over {iterations} steps");
+            _stopwatch.Start();
 
             for (int idx = 0; idx < iterations; idx++)
             {
                 _logger.LogInformation($"+ Iteration: {idx}");
+                var startTime = _stopwatch.ElapsedMilliseconds;
                 if (cts?.IsCancellationRequested ?? false)
                 {
                     _logger.LogInformation("+ Cancelled (before Actor)");
@@ -42,12 +47,25 @@ protected async Task IterativeExecuteAsync(int iterations, int delayInMillisecon
 
                     break;
                 }
+                var endTime = _stopwatch.ElapsedMilliseconds;
 
-                _logger.LogInformation($"+ Waiting {delayInMilliseconds}ms");
+                var currentDuration = endTime - startTime;
+                var waiting = delayInMilliseconds - currentDuration;
 
-                await Task.Delay(delayInMilliseconds);
+                _logger.LogInformation($"+ Waiting {delayInMilliseconds}ms ({currentDuration} already elapsed; {waiting} to go; walltime: {endTime})");
+
+                if (waiting > 0 && waiting <= int.MaxValue)
+                {
+                    await Task.Delay((int)waiting);
+                }
+                else
+                {
+                    _logger.LogError($"+ IO Time exceeded Waiting Time. Reducing Step Count or Increasing Delay Time might help.");
+                }
             }
 
+            _stopwatch.Stop();
+
             _logger.LogInformation("Finished iterative change");
         }
     }