![]() The only way of getting that thread ID is by calling the gettid function. We need to somehow forward the underlying kernel ID of that thread. The second part is setting up the background thread without a helper function. Timer_create(CLOCK_MONOTONIC, ¬ification_settings, &timer_id) Now, we just create a timer with those settings: timer_t timer_id Std::memcpy(¬ification_settings.sigev_value.sival_ptr, &some_value, sizeof(some_value)) Static_assert(sizeof(void *) = sizeof(some_value), "some_value size must be equal to pointer size!") To quickly test out if the TSC counter is monotonically increasing on your CPU, you can try out the following script: #include Īdditionally, we can send a specific value with a signal that we can use to process signals. More specifically, it doesn’t work on AMD Ryzen 7 CPUs which we tested out. It turns out that the kernel-based synchronization functionality doesn’t work well with all CPUs. But, on a kernel level, you can keep them synchronized, making them monotonically increasing, which allows you to still use them as fast counters. Those counters are, of course, unsynchronized. If a single CPU has multiple cores, each core will get its own counter. You’re probably wondering, why isn’t everyone using that kind of timer?īecause it’s unreliable. comply with safety precautions on this manual to use our robot system safety and correctly. TSC is a special register in the CPU that basically counts the cycles, and what a better way to measure time than to get it directly from a register.
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