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Simulator: Add scaling API to adjust for slow simulators

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The simulation engine had the ability to pause already and properly handled load spikes, however, it was not hardened against constant drift. This addition enables it to run at a constant slower-than-realtime rate successfully.
This commit is contained in:
Lorenz Meier
2017-08-01 19:50:35 +02:00
parent cf7d4fc1a7
commit 1c0dd8ba49
3 changed files with 67 additions and 22 deletions
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src/platforms/posix/px4_layer/drv_hrt.c
+23 -1
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@@ -332,6 +332,28 @@ void hrt_start_delay()
pthread_mutex_unlock(&_hrt_mutex);
}
void hrt_stop_delay_delta(hrt_abstime delta)
{
pthread_mutex_lock(&_hrt_mutex);
uint64_t delta_measured = _hrt_absolute_time_internal() - _start_delay_time;
if (delta_measured < delta) {
//PX4_WARN("Slim slowdown inaccurate: (slowdown delay: %" PRIu64 " us, true: %" PRIu64 " us)", delta, delta_measured);
delta = delta_measured;
}
_delay_interval += delta;
_start_delay_time = 0;
if (delta > 100000) {
PX4_WARN("Computer load temporarily too high for real-time simulation. (slowdown delay: %" PRIu64 " us)", delta);
}
pthread_mutex_unlock(&_hrt_mutex);
}
void hrt_stop_delay()
{
pthread_mutex_lock(&_hrt_mutex);
@@ -340,7 +362,7 @@ void hrt_stop_delay()
_start_delay_time = 0;
if (delta > 100000) {
PX4_INFO("Computer load temporarily too high for real-time simulation. (slowdown delay: %" PRIu64 " us)", delta);
PX4_WARN("Computer load temporarily too high for real-time simulation. (slowdown delay: %" PRIu64 " us)", delta);
}
pthread_mutex_unlock(&_hrt_mutex);