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Reduce CPU usage when running against system time instead of simulation time (#2936). Also reduces reconnect timer CPU usage in all nodes. 

Previous checkin (r10587) was mistaken, should've been checked in along with this.
This commit is contained in:
Josh Faust 2010-08-02 21:14:00 +00:00
parent b44b1496ce
commit 57351caf7d
1 changed files with 35 additions and 11 deletions
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46
core/roscpp/include/ros/timer_manager.h
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@ -215,6 +215,10 @@ template<class T, class D, class E>
TimerManager<T, D, E>::~TimerManager()
{
quit_ = true;
{
boost::mutex::scoped_lock lock(timers_mutex_);
timers_cond_.notify_all();
}
if (thread_started_)
{
thread_.join();
@ -309,16 +313,16 @@ int32_t TimerManager<T, D, E>::add(const D& period, const boost::function<void(c
thread_ = boost::thread(boost::bind(&TimerManager::threadFunc, this));
thread_started_ = true;
}
}
{
boost::mutex::scoped_lock lock(waiting_mutex_);
waiting_.push_back(info->handle);
waiting_.sort(boost::bind(&TimerManager::waitingCompare, this, _1, _2));
}
{
boost::mutex::scoped_lock lock(waiting_mutex_);
waiting_.push_back(info->handle);
waiting_.sort(boost::bind(&TimerManager::waitingCompare, this, _1, _2));
}
new_timer_ = true;
timers_cond_.notify_all();
new_timer_ = true;
timers_cond_.notify_all();
}
return info->handle;
}
@ -369,8 +373,11 @@ void TimerManager<T, D, E>::schedule(const TimerManager<T, D, E>::TimerInfoPtr&
waiting_.sort(boost::bind(&TimerManager::waitingCompare, this, _1, _2));
}
new_timer_ = true;
timers_cond_.notify_one();
{
boost::mutex::scoped_lock lock(timers_mutex_);
new_timer_ = true;
timers_cond_.notify_one();
}
}
template<class T, class D, class E>
@ -505,7 +512,24 @@ void TimerManager<T, D, E>::threadFunc()
current = T::now();
timers_cond_.timed_wait(lock, boost::posix_time::milliseconds(1));
if (current >= sleep_end)
{
break;
}
// If we're on simulation time we need to check now() against sleep_end more often than on system time,
// since simulation time may be running faster than real time.
if (!T::isSystemTime())
{
timers_cond_.timed_wait(lock, boost::posix_time::milliseconds(1));
}
else
{
// On system time we can simply sleep for the rest of the wait time, since anything else requiring processing will
// signal the condition variable
int32_t remaining_time = std::max((int32_t)((sleep_end - current).toSec() * 1000.0f), 1);
timers_cond_.timed_wait(lock, boost::posix_time::milliseconds(remaining_time));
}
}
new_timer_ = false;