diff --git a/components/common/cpp/include/ftl/timer.hpp b/components/common/cpp/include/ftl/timer.hpp
index ecb93ecf3410fd60c4655767a2678e2034202b97..bbfe33b7e42ea63bb2fbe4c107142222c4608f1d 100644
--- a/components/common/cpp/include/ftl/timer.hpp
+++ b/components/common/cpp/include/ftl/timer.hpp
@@ -80,7 +80,7 @@ void setClockAdjustment(int64_t ms);
* If all high precision callbacks together take more than 1ms to complete, a
* warning is produced.
*/
-const TimerHandle add(timerlevel_t, const std::function<void(int64_t ts)> &);
+const TimerHandle add(timerlevel_t, const std::function<bool(int64_t ts)> &);
/**
* Initiate the timer and optionally block the current process.
@@ -92,6 +92,8 @@ void start(bool block=false);
*/
void stop(bool wait=true);
+size_t count(timerlevel_t);
+
/**
* Stop and clear all callbacks. Used for testing purposes.
*/
diff --git a/components/common/cpp/src/timer.cpp b/components/common/cpp/src/timer.cpp
index 6064c1f744225c0c1541d0a617d2dc6a5cf0ee33..e00a7a9d17c40568e5b8bba668cf6aed14bbf9bc 100644
--- a/components/common/cpp/src/timer.cpp
+++ b/components/common/cpp/src/timer.cpp
@@ -28,7 +28,7 @@ static int last_id = 0;
struct TimerJob {
int id;
- function<void(int64_t)> job;
+ function<bool(int64_t)> job;
volatile bool active;
bool paused;
int multiplier;
@@ -66,8 +66,14 @@ static void waitTimePoint() {
auto idle_job = jobs[kTimerIdle10].begin();
while (idle_job != jobs[kTimerIdle10].end() && msdelay >= 10 && sincelast != mspf) {
(*idle_job).active = true;
- (*idle_job).job(now);
- (*idle_job++).active = false;
+ bool doremove = !(*idle_job).job(now);
+
+ if (doremove) {
+ idle_job = jobs[kTimerIdle10].erase(idle_job);
+ LOG(INFO) << "Timer job removed";
+ } else {
+ (*idle_job++).active = false;
+ }
now = get_time();
msdelay = mspf - (now % mspf);
}
@@ -98,7 +104,7 @@ void ftl::timer::setClockAdjustment(int64_t ms) {
clock_adjust += ms;
}
-const TimerHandle ftl::timer::add(timerlevel_t l, const std::function<void(int64_t ts)> &f) {
+const TimerHandle ftl::timer::add(timerlevel_t l, const std::function<bool(int64_t ts)> &f) {
if (l < 0 || l >= kTimerMAXLEVEL) return {-1};
UNIQUE_LOCK(mtx, lk);
@@ -150,9 +156,10 @@ static void trigger_jobs() {
j.active = true;
active_jobs++;
ftl::pool.push([&j,ts](int id) {
- j.job(ts);
+ bool doremove = !j.job(ts);
j.active = false;
active_jobs--;
+ if (doremove) removeJob(j.id);
});
}
}
@@ -195,6 +202,11 @@ void ftl::timer::stop(bool wait) {
}
}
+size_t ftl::timer::count(ftl::timer::timerlevel_t l) {
+ if (l < 0 || l >= kTimerMAXLEVEL) return 0;
+ return jobs[l].size();
+}
+
void ftl::timer::reset() {
stop(true);
for (int i=0; i<ftl::timer::kTimerMAXLEVEL; i++) {
diff --git a/components/common/cpp/test/timer_unit.cpp b/components/common/cpp/test/timer_unit.cpp
index 6244341a17d3fdf91034c8fbd5c298f92bad4e49..c1d6776299969bb55fe3d9b9c9a91bd3d35430d6 100644
--- a/components/common/cpp/test/timer_unit.cpp
+++ b/components/common/cpp/test/timer_unit.cpp
@@ -19,7 +19,7 @@ TEST_CASE( "Timer::add() High Precision Accuracy" ) {
auto rc = ftl::timer::add(ftl::timer::kTimerHighPrecision, [&didrun](int64_t ts) {
didrun = true;
ftl::timer::stop(false);
- return;
+ return true;
});
REQUIRE( (rc.id >= 0) );
@@ -37,7 +37,7 @@ TEST_CASE( "Timer::add() High Precision Accuracy" ) {
didrun = true;
std::this_thread::sleep_for(std::chrono::milliseconds(5));
ftl::timer::stop(false);
- return;
+ return true;
});
REQUIRE( (rc.id >= 0) );
@@ -54,7 +54,7 @@ TEST_CASE( "Timer::add() High Precision Accuracy" ) {
auto rc = ftl::timer::add(ftl::timer::kTimerHighPrecision, [&didrun](int64_t ts) {
didrun[0] = true;
ftl::timer::stop(false);
- return;
+ return true;
});
REQUIRE( (rc.id >= 0) );
@@ -62,13 +62,13 @@ TEST_CASE( "Timer::add() High Precision Accuracy" ) {
ftl::timer::add(ftl::timer::kTimerHighPrecision, [&didrun](int64_t ts) {
didrun[1] = true;
ftl::timer::stop(false);
- return;
+ return true;
});
ftl::timer::add(ftl::timer::kTimerHighPrecision, [&didrun](int64_t ts) {
didrun[2] = true;
ftl::timer::stop(false);
- return;
+ return true;
});
ftl::timer::start(true);
@@ -78,6 +78,61 @@ TEST_CASE( "Timer::add() High Precision Accuracy" ) {
}
}
+TEST_CASE( "Timer::add() Idle10 job" ) {
+ SECTION( "Quick idle job" ) {
+ bool didrun = false;
+
+ ftl::timer::reset();
+
+ auto rc = ftl::timer::add(ftl::timer::kTimerIdle10, [&didrun](int64_t ts) {
+ didrun = true;
+ ftl::timer::stop(false);
+ return true;
+ });
+
+ REQUIRE( (rc.id >= 0) );
+
+ ftl::timer::start(true);
+ REQUIRE( didrun == true );
+ }
+
+ SECTION( "Slow idle job" ) {
+ bool didrun = false;
+
+ ftl::timer::reset();
+
+ auto rc = ftl::timer::add(ftl::timer::kTimerIdle10, [&didrun](int64_t ts) {
+ didrun = true;
+ std::this_thread::sleep_for(std::chrono::milliseconds(60));
+ ftl::timer::stop(false);
+ return true;
+ });
+
+ REQUIRE( (rc.id >= 0) );
+
+ ftl::timer::start(true);
+ REQUIRE( didrun == true );
+ }
+
+ SECTION( "Return remove idle job" ) {
+ bool didrun = false;
+
+ ftl::timer::reset();
+
+ auto rc = ftl::timer::add(ftl::timer::kTimerIdle10, [&didrun](int64_t ts) {
+ didrun = true;
+ ftl::timer::stop(false);
+ return false;
+ });
+
+ REQUIRE( (rc.id >= 0) );
+
+ ftl::timer::start(true);
+ REQUIRE( didrun == true );
+ REQUIRE( ftl::timer::count(ftl::timer::kTimerIdle10) == 0 );
+ }
+}
+
TEST_CASE( "Timer::add() Main job" ) {
SECTION( "Quick main job" ) {
bool didrun = false;
@@ -87,7 +142,7 @@ TEST_CASE( "Timer::add() Main job" ) {
auto rc = ftl::timer::add(ftl::timer::kTimerMain, [&didrun](int64_t ts) {
didrun = true;
ftl::timer::stop(false);
- return;
+ return true;
});
REQUIRE( (rc.id >= 0) );
@@ -105,7 +160,7 @@ TEST_CASE( "Timer::add() Main job" ) {
didrun = true;
std::this_thread::sleep_for(std::chrono::milliseconds(60));
ftl::timer::stop(false);
- return;
+ return true;
});
REQUIRE( (rc.id >= 0) );
@@ -124,19 +179,37 @@ TEST_CASE( "Timer::add() Main job" ) {
job1++;
std::this_thread::sleep_for(std::chrono::milliseconds(60));
ftl::timer::stop(false);
- return;
+ return true;
});
REQUIRE( (rc.id >= 0) );
ftl::timer::add(ftl::timer::kTimerMain, [&job2](int64_t ts) {
job2++;
- return;
+ return true;
});
ftl::timer::start(true);
REQUIRE( (job1 == 1 && job2 == 2) );
}
+
+ SECTION( "Return remove main job" ) {
+ bool didrun = false;
+
+ ftl::timer::reset();
+
+ auto rc = ftl::timer::add(ftl::timer::kTimerMain, [&didrun](int64_t ts) {
+ didrun = true;
+ ftl::timer::stop(false);
+ return false;
+ });
+
+ REQUIRE( (rc.id >= 0) );
+
+ ftl::timer::start(true);
+ REQUIRE( didrun == true );
+ REQUIRE( ftl::timer::count(ftl::timer::kTimerMain) == 0 );
+ }
}
TEST_CASE( "TimerHandle::cancel()" ) {
@@ -147,7 +220,7 @@ TEST_CASE( "TimerHandle::cancel()" ) {
ftl::timer::add(ftl::timer::kTimerMain, [&didjob](int64_t ts) {
didjob = true;
ftl::timer::stop(false);
- return;
+ return true;
});
// Fake Handle
@@ -164,7 +237,7 @@ TEST_CASE( "TimerHandle::cancel()" ) {
auto id = ftl::timer::add(ftl::timer::kTimerMain, [&didjob](int64_t ts) {
didjob = true;
ftl::timer::stop(false);
- return;
+ return true;
});
id.cancel();
diff --git a/components/rgbd-sources/src/group.cpp b/components/rgbd-sources/src/group.cpp
index af8dd00e17ec7307dd5c8af25a3d490953d447fb..66bce0b89228dc34720589b67de466f7893394b4 100644
--- a/components/rgbd-sources/src/group.cpp
+++ b/components/rgbd-sources/src/group.cpp
@@ -140,26 +140,29 @@ void Group::sync(std::function<bool(ftl::rgbd::FrameSet &)> cb) {
cap_id_ = ftl::timer::add(ftl::timer::kTimerHighPrecision, [this](int64_t ts) {
skip_ = jobs_ != 0; // Last frame not finished so skip all steps
- if (skip_) return;
+ if (skip_) return true;
last_ts_ = ts;
for (auto s : sources_) {
s->capture(ts);
}
+
+ return true;
});
// 2. After capture, swap any internal source double buffers
swap_id_ = ftl::timer::add(ftl::timer::kTimerSwap, [this](int64_t ts) {
- if (skip_) return;
+ if (skip_) return true;
for (auto s : sources_) {
s->swap();
}
+ return true;
});
// 3. Issue IO retrieve ad compute jobs before finding a valid
// frame at required latency to pass to callback.
main_id_ = ftl::timer::add(ftl::timer::kTimerMain, [this,cb](int64_t ts) {
- if (skip_) return;
+ if (skip_) return true;
jobs_++;
for (auto s : sources_) {
@@ -196,6 +199,7 @@ void Group::sync(std::function<bool(ftl::rgbd::FrameSet &)> cb) {
}
jobs_--;
+ return true;
});
ftl::timer::start(true);
diff --git a/components/rgbd-sources/src/streamer.cpp b/components/rgbd-sources/src/streamer.cpp
index d8cca195fe8fe4b45365ab43c80862d394fcd0e5..bf7304f72f0f7ace305d15da555f1813d1552d03 100644
--- a/components/rgbd-sources/src/streamer.cpp
+++ b/components/rgbd-sources/src/streamer.cpp
@@ -182,20 +182,23 @@ void Streamer::_addClient(const string &source, int N, int rate, const ftl::UUID
try {
mastertime = net_->call<int64_t>(peer, "__ping__");
} catch (...) {
- //timer_job_.cancel();
- return;
+ // Reset time peer and remove timer
+ time_peer_ = ftl::UUID(0);
+ return false;
}
auto elapsed = std::chrono::high_resolution_clock::now() - start;
int64_t latency = std::chrono::duration_cast<std::chrono::milliseconds>(elapsed).count();
auto clock_adjust = mastertime - (ftl::timer::get_time() + (latency/2));
- //if (clock_adjust > 0) {
+ if (clock_adjust > 0) {
LOG(INFO) << "Clock adjustment: " << clock_adjust;
//LOG(INFO) << "Latency: " << (latency / 2);
//LOG(INFO) << "Local: " << std::chrono::time_point_cast<std::chrono::milliseconds>(start).time_since_epoch().count() << ", master: " << mastertime;
ftl::timer::setClockAdjustment(clock_adjust);
- //}
+ }
+
+ return true;
});
}
}