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sensord: more precise 100 Hz, compensate for time spend measuring

pull/2086/head
Willem Melching 2020-08-26 12:10:50 +02:00
parent 622e42d504
commit 41b0cba0dd
1 changed files with 3 additions and 2 deletions
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5
selfdrive/sensord/sensors_qcom2.cc
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@ -55,6 +55,7 @@ int sensor_loop() {
PubMaster pm({"sensorEvents"});
while (!do_exit){
std::chrono::steady_clock::time_point begin = std::chrono::steady_clock::now();
uint64_t log_time = nanos_since_boot();
capnp::MallocMessageBuilder msg;
@ -71,8 +72,8 @@ int sensor_loop() {
pm.send("sensorEvents", msg);
// TODO actually run at 100Hz
std::this_thread::sleep_for(std::chrono::milliseconds(10));
std::chrono::steady_clock::time_point end = std::chrono::steady_clock::now();
std::this_thread::sleep_for(std::chrono::milliseconds(10) - (end - begin));
}
return 0;
}