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HAL_SITL: fixed sleep time with speedup

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and removed sleep in threads for cygwin, as granulatity of sleep is
too high, resuling in very poor lua performance
This commit is contained in:
Andrew Tridgell 2022-11-07 10:25:52 +11:00
parent 6a3c7f8cf6
commit 1488edb1d8
1 changed files with 17 additions and 1 deletions
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18
libraries/AP_HAL_SITL/SITL_State.cpp
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@ -175,11 +175,27 @@ void SITL_State::_fdm_input_step(void)
void SITL_State::wait_clock(uint64_t wait_time_usec) void SITL_State::wait_clock(uint64_t wait_time_usec)
{ {
float speedup = sitl_model->get_speedup();
if (speedup < 1) {
// for purposes of sleeps treat low speedups as 1
speedup = 1.0;
}
while (AP_HAL::micros64() < wait_time_usec) { while (AP_HAL::micros64() < wait_time_usec) {
if (hal.scheduler->in_main_thread() || if (hal.scheduler->in_main_thread() ||
Scheduler::from(hal.scheduler)->semaphore_wait_hack_required()) { Scheduler::from(hal.scheduler)->semaphore_wait_hack_required()) {
_fdm_input_step(); _fdm_input_step();
} else { } else {
#ifdef CYGWIN_BUILD
if (speedup > 2) {
// this effectively does a yield of the CPU. The
// granularity of sleeps on cygwin is very high, so
// this is needed for good thread performance. We
// don't do this at low speedups as it causes the cpu
// to run hot
usleep(0);
continue;
}
#endif
usleep(1000); usleep(1000);
} }
} }
@ -187,7 +203,7 @@ void SITL_State::wait_clock(uint64_t wait_time_usec)
// MAVProxy/pymavlink take too long to process packets and it ends // MAVProxy/pymavlink take too long to process packets and it ends
// up seeing traffic well into our past and hits time-out // up seeing traffic well into our past and hits time-out
// conditions. // conditions.
if (sitl_model->get_speedup() > 1) { if (speedup > 1 && hal.scheduler->in_main_thread()) {
while (true) { while (true) {
const int queue_length = ((HALSITL::UARTDriver*)hal.serial(0))->get_system_outqueue_length(); const int queue_length = ((HALSITL::UARTDriver*)hal.serial(0))->get_system_outqueue_length();
// ::fprintf(stderr, "queue_length=%d\n", (signed)queue_length); // ::fprintf(stderr, "queue_length=%d\n", (signed)queue_length);