diff options
Diffstat (limited to 'logic/tracker.cpp')
| -rw-r--r-- | logic/tracker.cpp | 51 |
1 files changed, 30 insertions, 21 deletions
diff --git a/logic/tracker.cpp b/logic/tracker.cpp index 1a37a8a1..a7b19a48 100644 --- a/logic/tracker.cpp +++ b/logic/tracker.cpp @@ -12,9 +12,13 @@ * originally written by Wim Vriend. */ +#include "compat/nan.hpp" #include "compat/sleep.hpp" #include "compat/util.hpp" -#include "compat/timer-resolution.hpp" + +#if defined _WIN32 +# include "compat/timer-resolution.hpp" +#endif #include "tracker.h" @@ -22,6 +26,10 @@ #include <algorithm> #include <cstdio> +#ifdef _WIN32 +# include <windows.h> +#endif + using namespace euler; using namespace gui_tracker_impl; using namespace time_units; @@ -90,8 +98,6 @@ void Tracker::t_compensate(const rmat& rmat, const euler_t& xyz, euler_t& output output(TX) = -ret(tb_X); } -#include "compat/nan.hpp" - static inline double elide_nan(double value, double def) { if (nanp(value)) @@ -376,8 +382,6 @@ void Tracker::run() { setPriority(QThread::HighPriority); - timer_resolution res(1); - { static constexpr const char* posechannels[6] = { "TX", "TY", "TZ", "Yaw", "Pitch", "Roll" }; static constexpr const char* datachannels[5] = { "dt", "raw", "corrected", "filtered", "mapped" }; @@ -398,15 +402,18 @@ void Tracker::run() t.start(); +#if defined _WIN32 + timer_resolution res; + (void) res; +#endif + while (!get(f_should_quit)) { logic(); - static constexpr ns const_sleep_ms(time_cast<ns>(ms(4))); + static constexpr ns const_sleep_ms(time_cast<ns>(ms_(4))); const ns elapsed_nsecs = prog1(t.elapsed<ns>(), t.start()); - backlog_time += ns(elapsed_nsecs - const_sleep_ms); - if (backlog_time > secs_(3) || backlog_time < secs_(-3)) { qDebug() << "tracker: backlog interval overflow" @@ -414,23 +421,25 @@ void Tracker::run() backlog_time = backlog_time.zero(); } - const int sleep_time_ms = iround(time_cast<ms>(clamp(const_sleep_ms - backlog_time, - ns(0), ms(50))) - .count()); + backlog_time += ns(elapsed_nsecs - const_sleep_ms); + + const int sleep_time_ms = iround(std::fmax(0., + (time_cast<ms>(clamp(const_sleep_ms - backlog_time, + ms_::zero(), ms_(50)))).count())); portable::sleep(sleep_time_ms); - } - { - // filter may inhibit exact origin - Pose p; - libs.pProtocol->pose(p); - } + { + // filter may inhibit exact origin + Pose p; + libs.pProtocol->pose(p); + } - for (int i = 0; i < 6; i++) - { - m(i).spline_main.set_tracking_active(false); - m(i).spline_alt.set_tracking_active(false); + for (int i = 0; i < 6; i++) + { + m(i).spline_main.set_tracking_active(false); + m(i).spline_alt.set_tracking_active(false); + } } } |