diff options
| -rw-r--r-- | logic/pipeline.cpp | 78 | ||||
| -rw-r--r-- | logic/pipeline.hpp | 3 |
2 files changed, 42 insertions, 39 deletions
diff --git a/logic/pipeline.cpp b/logic/pipeline.cpp index c540aa4e..75f91848 100644 --- a/logic/pipeline.cpp +++ b/logic/pipeline.cpp @@ -479,6 +479,40 @@ ok: logger.next_line(); } +#ifdef DEBUG_TIMINGS +static void debug_timings(float backlog_time) +{ + static variance v; + static Timer t, t2; + static unsigned cnt, k; + + if (k > 1000) + { + v.input((double)backlog_time); + + if (t.elapsed_ms() >= 1000) + { + t.start(); + qDebug() << cnt << "Hz:" + << "backlog" + << "avg" << v.avg() + << "stddev" << v.stddev(); + + cnt = 0; + } + + cnt++; + } + else + { + k++; + t.start(); + } + + t2.start(); +} +#endif + void pipeline::run() { #if defined _WIN32 @@ -513,10 +547,8 @@ void pipeline::run() { logic(); - using namespace time_units; - - constexpr ns const_sleep_ms(ms{4}); - const ns elapsed_nsecs = t.elapsed<ns>(); + constexpr ms interval{4}; + backlog_time += ms{t.elapsed_ms()} - interval; t.start(); if (std::chrono::abs(backlog_time) > secs(3)) @@ -526,43 +558,13 @@ void pipeline::run() backlog_time = {}; } - backlog_time += ns{elapsed_nsecs - const_sleep_ms}; - - const int sleep_time_ms = (int)( - clamp(ms{const_sleep_ms - backlog_time}, - ms{0}, ms{10}).count() - .45f - ); + const int sleep_ms = (int)clamp(interval - backlog_time, + ms{0}, ms{10}).count(); #ifdef DEBUG_TIMINGS - { - static variance v; - static Timer tt, t2; - static int cnt; - - v.input(t2.elapsed_ms()); - - if (tt.elapsed_ms() >= 1000) - { - tt.start(); - qDebug() << cnt << "Hz," - << "loop: " "time" << v.avg() - << "stddev:" << v.stddev() - << "backlog" << ms{backlog_time}.count() - << "sleep" << sleep_time_ms << "ms"; - - if (v.count() > 256 * 60) - v.clear(); - - cnt = 0; - } - - cnt++; - - t2.start(); - } + debug_timings(backlog_time.count()); #endif - - portable::sleep(sleep_time_ms); + portable::sleep(sleep_ms); } // filter may inhibit exact origin diff --git a/logic/pipeline.hpp b/logic/pipeline.hpp index cf87dfca..41ba7181 100644 --- a/logic/pipeline.hpp +++ b/logic/pipeline.hpp @@ -26,6 +26,7 @@ namespace pipeline_impl { using namespace euler; +using namespace time_units; using vec6_bool = Mat<bool, 6, 1>; using vec3_bool = Mat<bool, 6, 1>; @@ -102,7 +103,7 @@ class OTR_LOGIC_EXPORT pipeline : private QThread euler_t T; } center; - time_units::ns backlog_time {}; + time_units::ms backlog_time {}; bool tracking_started = false; |