carrot/common/ratekeeper.cc
FrogAi 659adb6457 openpilot v0.9.7 release
date: 2024-03-17T10:14:38
master commit: 7e9a909e0e57ecb31df4c87c5b9a06b1204fd034
2024-05-24 17:43:27 -07:00

41 lines
1.0 KiB
C++

#include "common/ratekeeper.h"
#include <algorithm>
#include "common/swaglog.h"
#include "common/timing.h"
#include "common/util.h"
RateKeeper::RateKeeper(const std::string &name, float rate, float print_delay_threshold)
: name(name),
print_delay_threshold(std::max(0.f, print_delay_threshold)) {
interval = 1 / rate;
last_monitor_time = seconds_since_boot();
next_frame_time = last_monitor_time + interval;
}
bool RateKeeper::keepTime() {
bool lagged = monitorTime();
if (remaining_ > 0) {
util::sleep_for(remaining_ * 1000);
}
return lagged;
}
bool RateKeeper::monitorTime() {
++frame_;
last_monitor_time = seconds_since_boot();
remaining_ = next_frame_time - last_monitor_time;
bool lagged = remaining_ < 0;
if (lagged) {
if (print_delay_threshold > 0 && remaining_ < -print_delay_threshold) {
LOGW("%s lagging by %.2f ms", name.c_str(), -remaining_ * 1000);
}
next_frame_time = last_monitor_time + interval;
} else {
next_frame_time += interval;
}
return lagged;
}