Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-11 10:28:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

desktop: make the main loop a bit more responsive

Browse Source 
this introduces less delays on linux than usleep()
This commit is contained in:
Andrew Tridgell 2011-10-11 17:37:19 +11:00
parent 6f44415b19
commit 3633d846f6
1 changed files with 11 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
libraries/Desktop/support/main.cpp
View File

@ -2,6 +2,8 @@
#include <unistd.h>
#include <time.h>
#include <sys/time.h>
#include <sched.h>
#include <wiring.h>
void setup(void);
void loop(void);
@ -13,11 +15,16 @@ int main(void)
gettimeofday(&sketch_start_time, NULL);
setup();
while (true) {
struct timespec ts;
struct timeval tv;
unsigned long t1, t2;
t1 = micros();
loop();
ts.tv_sec = 0;
ts.tv_nsec = 100;
nanosleep(&ts, NULL);
t2 = micros();
if (t2 - t1 < 2) {
tv.tv_sec = 0;
tv.tv_usec = 1;
select(0, NULL, NULL, NULL, &tv);
}
}
return 0;
}