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Research on Real-time Performance Testing Methods for Robot Operating System

机译：机器人操作系统实时性能测试方法研究

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To test real-time performance of RGMP-ROS, a robot operating system, this paper takes an in-depth study of the basic functions of real-time operating system kernel. By analyzing the main factors that affect the real-time performance of an operating system, we propose a set of real-time performance testing methods based on mixed load. This paper introduces the concept of the calibration procedure program. Takes the average execution time of the program as the standard time unit to normalize the test results of each test indicator, so as to shield the effect of the hardware test environment on the test results to a certain extent. While testing task preemption time and interrupt response time, we use background tasks that can trigger banning preemption or disabling interrupts to simulate the load, which makes the test results more real and reliable.
机译：为了测试机器人操作系统RGMP-ROS的实时性能，本文对实时操作系统内核的基本功能进行了深入研究。通过分析影响操作系统实时性能的主要因素，我们提出了一套基于混合负载的实时性能测试方法。本文介绍了校准程序程序的概念。以程序的平均执行时间为标准时间单位，对各个测试指标的测试结果进行归一化，从而在一定程度上屏蔽了硬件测试环境对测试结果的影响。在测试任务抢占时间和中断响应时间时，我们使用可以触发禁止抢占或禁用中断的后台任务来模拟负载，从而使测试结果更加真实可靠。

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