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Update the resource-utilization calc: average over the last N ms #127
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mauropasse
merged 3 commits into
irobot-ros:master
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jfinken:jfinken/change-avg-ru-calculation
Oct 30, 2023
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@mauropasse
Ok note here how both of these members are updated right before
sleep_until
. Now the denominator,time_elapsed_real_ms
, should reflect theperiod
duration here.Note that I don't think you can compare the actual value from
top
to what you see in theresources.txt
file. As I understand it,top
expresses%CPU
as a percentage of total CPU time. However, here we are expressing ourcpu%
as the approximate CPU time used by our process over monotonic wall-clock time. e.g.I think
top
and our calculation are somewhat different, but I could certainly be wrong.There was a problem hiding this comment.
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Yes you're right,
top
and our calculation are a bit different. If you multiply the CPU% we get in our way, by the number of cores of your system, the values are quite similar.I mostly refered to the
top
approach of averaging every 1 or 2 seconds, so it doesn't reflect the past before that.For that, the CPU load is what helps. I don't think we care about that so our approach is fine!