Added lots of profiling to OSL code.

opensourceleg/hardware/actuators.py

@@ -14,6 +14,7 @@
 from ..tools.safety import ThermalLimitException
 from .thermal import ThermalModel
 from .AS5048B_encoder import AS5048B_Encoder
+from NeuroLocoMiddleware.StatProfiler import SSProfile
 
 """
 Module Overview:
@@ -513,6 +514,7 @@ def stop(self, close_communication=True) -> None:
         if close_communication:
             self.close()
 
+    @SSProfile("actpack_update").decorate
     def update(self) -> None:
         """
         Queries the latest values from the actpack.

opensourceleg/hardware/sensors.py

@@ -10,6 +10,8 @@
 
 from ..tools.logger import Logger
 from .joints import Joint
+from NeuroLocoMiddleware.StatProfiler import SSProfile
+
 
 """
 Module Overview:
@@ -154,6 +156,7 @@ def reset(self):
         self._loadcell_zero = np.zeros(shape=(1, 6), dtype=np.double)
         self._zeroed = False
 
+    @SSProfile("loadcell_update").decorate
     def update(self, loadcell_zero=None) -> None:
         """
         Queries the loadcell for the latest data.

opensourceleg/osl.py

@@ -64,7 +64,7 @@ def __init__(
             file_path=file_name, log_format="[%(asctime)s] %(levelname)s: %(message)s"
         )
 
-        self.clock = SoftRealtimeLoop(dt=1.0 / self._frequency, report=False, fade=0.1)
+        self.clock = SoftRealtimeLoop(dt=1.0 / self._frequency, report=False, fade=0.1, track_naive_time=True)
 
         self._timestamp: float = time.time()
 

opensourceleg/tools/logger.py

@@ -3,6 +3,7 @@
 import csv
 import logging
 from logging.handlers import RotatingFileHandler
+from NeuroLocoMiddleware.StatProfiler import SSProfile
 
 """
 Module Overview:
@@ -150,6 +151,7 @@ def add_attributes(
         self._containers.append(container)
         self._attributes.append(attributes)
 
+    @SSProfile("log_update").decorate
     def update(self) -> None:
         """
         Logs the attributes of the class instance to the csv file