7fa972be6a
version: sunnypilot v2025.003.000 (dev) date: 2026-02-09T02:04:38 master commit: 254f55ac15a40343d7255f2f098de3442e0c4a6f
41 lines
1.0 KiB
C++
41 lines
1.0 KiB
C++
#include "common/ratekeeper.h"
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#include <algorithm>
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#include "common/swaglog.h"
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#include "common/timing.h"
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#include "common/util.h"
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RateKeeper::RateKeeper(const std::string &name, float rate, float print_delay_threshold)
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: name(name),
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print_delay_threshold(std::max(0.f, print_delay_threshold)) {
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interval = 1 / rate;
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last_monitor_time = seconds_since_boot();
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next_frame_time = last_monitor_time + interval;
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}
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bool RateKeeper::keepTime() {
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bool lagged = monitorTime();
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if (remaining_ > 0) {
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util::sleep_for(remaining_ * 1000);
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}
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return lagged;
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}
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bool RateKeeper::monitorTime() {
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++frame_;
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last_monitor_time = seconds_since_boot();
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remaining_ = next_frame_time - last_monitor_time;
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bool lagged = remaining_ < 0;
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if (lagged) {
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if (print_delay_threshold > 0 && remaining_ < -print_delay_threshold) {
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LOGW("%s lagging by %.2f ms", name.c_str(), -remaining_ * 1000);
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}
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next_frame_time = last_monitor_time + interval;
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} else {
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next_frame_time += interval;
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}
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return lagged;
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}
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