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c++ replay: more accurate sleep (#22348)

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* precise sleep

* cleanup

* continue
old-commit-hash: 318a8ba8546043f7cde018561d8a62ce2f56946d
This commit is contained in:
Dean Lee
2021-09-29 22:59:12 +08:00
committed by GitHub
parent 04d8197e1c
commit e5d79759ff
1 changed files with 19 additions and 3 deletions
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selfdrive/ui/replay/replay.cc
+19 -3
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@@ -7,6 +7,22 @@
#include "selfdrive/common/timing.h"
#include "selfdrive/hardware/hw.h"
inline void precise_nano_sleep(long sleep_ns) {
const long estimate_ns = 1 * 1e6; // 1ms
struct timespec req = {.tv_nsec = estimate_ns};
uint64_t start_sleep = nanos_since_boot();
while (sleep_ns > estimate_ns) {
nanosleep(&req, nullptr);
uint64_t end_sleep = nanos_since_boot();
sleep_ns -= (end_sleep - start_sleep);
start_sleep = end_sleep;
}
// spin wait
if (sleep_ns > 0) {
while ((nanos_since_boot() - start_sleep) <= sleep_ns) {/**/}
}
}
Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *sm_, bool dcam, bool ecam, QObject *parent)
: sm(sm_), load_dcam(dcam), load_ecam(ecam), QObject(parent) {
std::vector<const char*> s;
@@ -217,9 +233,9 @@ void Replay::stream() {
// keep time
long etime = cur_mono_time_ - evt_start_ts;
long rtime = nanos_since_boot() - loop_start_ts;
long us_behind = ((etime - rtime) * 1e-3) + 0.5;
if (us_behind > 0 && us_behind < 1e6) {
QThread::usleep(us_behind);
long behind_ns = etime - rtime;
if (behind_ns > 0) {
precise_nano_sleep(behind_ns);
}
// publish frame