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boardd: panda_state_thread run closer to 2 Hz (#23529) 

* boardd: panda_state_thread run closer to 2Hz

* make explicit
pull/23532/head
Willem Melching 2022-01-14 15:08:39 +01:00 committed by GitHub
parent 53ca036006
commit b75e410779
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2 changed files with 8 additions and 2 deletions
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6
selfdrive/boardd/boardd.cc
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@ -420,6 +420,8 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
// run at 2hz
while (!do_exit && check_all_connected(pandas)) {
uint64_t start_time = nanos_since_boot();
// send out peripheralState
send_peripheral_state(pm, peripheral_panda);
ignition = send_panda_states(pm, pandas, spoofing_started);
@ -452,7 +454,9 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
for (const auto &panda : pandas) {
panda->send_heartbeat(engaged);
}
util::sleep_for(500);
uint64_t dt = nanos_since_boot() - start_time;
util::sleep_for(500 - dt / 1000000ULL);
}
}

4
selfdrive/common/util.h
View File

@ -91,7 +91,9 @@ bool create_directories(const std::string &dir, mode_t mode);
std::string check_output(const std::string& command);
inline void sleep_for(const int milliseconds) {
std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds));
if (milliseconds > 0) {
std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds));
}
}
} // namespace util