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Add imu track period

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This commit is contained in:
John Zhao 2018-05-15 14:54:22 +08:00
parent a83be6bde6
commit 276406dd1e
1 changed files with 16 additions and 3 deletions
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19
src/internal/channels.cc
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@ -23,6 +23,9 @@
#include <stdexcept>
#include "internal/strings.h"
#include "internal/times.h"
#define IMU_TRACK_PERIOD 25 // ms
MYNTEYE_BEGIN_NAMESPACE
@ -283,10 +286,12 @@ void Channels::StartImuTracking(imu_callback_t callback) {
imu_sn_ = 0;
ImuReqPacket req_packet{imu_sn_};
ImuResPacket res_packet;
// auto sleep_milli = [](std::intmax_t n) {
// std::this_thread::sleep_for(std::chrono::milliseconds(n));
// };
auto sleep_ms = [](std::intmax_t n) {
std::this_thread::sleep_for(std::chrono::milliseconds(n));
};
while (!imu_track_stop_) {
auto &&time_beg = times::now();
req_packet.serial_number = imu_sn_;
if (!XuImuWrite(req_packet)) {
continue;
@ -323,6 +328,14 @@ void Channels::StartImuTracking(imu_callback_t callback) {
}
res_packet.packets.clear();
auto &&time_elapsed_ms =
times::count<times::milliseconds>(times::now() - time_beg);
if (time_elapsed_ms < IMU_TRACK_PERIOD) {
sleep_ms(IMU_TRACK_PERIOD - time_elapsed_ms);
VLOG(2) << "Imu track cost " << time_elapsed_ms << " ms"
<< ", sleep " << (IMU_TRACK_PERIOD - time_elapsed_ms) << " ms";
}
}
});
}