From a6d18d85274e50a311f776d52413e06ce2c4828c Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sun, 19 Jul 2020 10:23:21 +0300
Subject: [PATCH] Improve timer efficiency
---
applications/gui2/src/main.cpp | 3 ++
components/common/cpp/src/timer.cpp | 36 +++++++++++++++++--
.../rgbd-sources/include/ftl/rgbd/source.hpp | 2 +-
components/streams/src/builder.cpp | 2 +-
4 files changed, 39 insertions(+), 4 deletions(-)
diff --git a/applications/gui2/src/main.cpp b/applications/gui2/src/main.cpp
index 7d422d98d..85d6c38d3 100644
--- a/applications/gui2/src/main.cpp
+++ b/applications/gui2/src/main.cpp
@@ -155,6 +155,9 @@ int main(int argc, char **argv) {
Pylon::PylonAutoInitTerm autoInitTerm;
#endif
+ // Note: This causes 100% CPU use but prevents the random frame drops.
+ ftl::timer::setHighPrecision(true);
+
{
nanogui::init();
diff --git a/components/common/cpp/src/timer.cpp b/components/common/cpp/src/timer.cpp
index 0121c046d..890f7dc83 100644
--- a/components/common/cpp/src/timer.cpp
+++ b/components/common/cpp/src/timer.cpp
@@ -89,6 +89,30 @@ static void waitTimePoint() {
}
}
+ /*while (msdelay >= 10 && sincelast != mspf) {
+ sleep_for(milliseconds(5));
+ now = get_time();
+ msdelay = mspf - (now % mspf);
+ }*/
+
+ if (msdelay >= 2 && sincelast != mspf) {
+ UNIQUE_LOCK(mtx, lk);
+ auto idle_job = jobs[kTimerIdle1].begin();
+ while (idle_job != jobs[kTimerIdle1].end() && msdelay >= 2 && sincelast != mspf) {
+ (*idle_job).active = true;
+ bool doremove = !(*idle_job).job.trigger(now);
+
+ if (doremove) {
+ idle_job = jobs[kTimerIdle1].erase(idle_job);
+ LOG(INFO) << "Timer job removed";
+ } else {
+ (*idle_job++).active = false;
+ }
+ now = get_time();
+ msdelay = mspf - (now % mspf);
+ }
+ }
+
if (hprec_) {
// Spin loop until exact grab time
// Accurate to around 4 micro seconds.
@@ -194,12 +218,20 @@ static void trigger_jobs() {
auto *pj = &j;
- ftl::pool.push([pj,ts](int id) {
+ // If last job in list then do in this thread
+ if (active_jobs == jobs[kTimerMain].size()+1) {
bool doremove = !pj->job.trigger(ts);
pj->active = false;
active_jobs--;
if (doremove) removeJob(pj->id);
- });
+ } else {
+ ftl::pool.push([pj,ts](int id) {
+ bool doremove = !pj->job.trigger(ts);
+ pj->active = false;
+ active_jobs--;
+ if (doremove) removeJob(pj->id);
+ });
+ }
}
// Final cleanup of stale jobs
diff --git a/components/rgbd-sources/include/ftl/rgbd/source.hpp b/components/rgbd-sources/include/ftl/rgbd/source.hpp
index 7773756f2..c7cc7d574 100644
--- a/components/rgbd-sources/include/ftl/rgbd/source.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/source.hpp
@@ -92,7 +92,7 @@ class Source : public ftl::Configurable, public ftl::data::DiscreteSource {
BaseSourceImpl *impl_;
SHARED_MUTEX mutex_;
cudaStream_t stream_;
- bool is_retrieving;
+ std::atomic_bool is_retrieving;
void _swap();
};
diff --git a/components/streams/src/builder.cpp b/components/streams/src/builder.cpp
index 8d2e60f8b..72dd73c5a 100644
--- a/components/streams/src/builder.cpp
+++ b/components/streams/src/builder.cpp
@@ -138,7 +138,7 @@ void IntervalSourceBuilder::start() {
// TODO: Do in parallel...
for (auto *s : srcs_) {
if (!s->retrieve(fs->firstFrame())) {
- LOG(WARNING) << "Frame was skipping";
+ LOG(WARNING) << "Frame is being skipped: " << ts;
}
}
--
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