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Robocup bug fix of Thunderloop clock #3317

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merged 5 commits into from
Nov 12, 2024
Merged

Robocup bug fix of Thunderloop clock #3317

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0db0d97
Fixed bug where thunderloop would wait differently depending on time …
mkhlb Sep 24, 2024
35f97de
Fix another robocup bug.
mkhlb Oct 12, 2024
f4aded5
Merge branch 'master' of https://github.com/UBC-Thunderbots/Software …
williamckha Nov 4, 2024
fc7ce5d
[pre-commit.ci lite] apply automatic fixes
pre-commit-ci-lite[bot] Nov 4, 2024
507eb1b
Remove unused var
williamckha Nov 12, 2024
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19 changes: 12 additions & 7 deletions src/software/embedded/thunderloop.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -147,6 +147,7 @@ void Thunderloop::runLoop()
struct timespec current_time;
struct timespec last_chipper_fired;
struct timespec last_kicker_fired;
struct timespec prev_iter_start_time;

// Input buffer
TbotsProto::PrimitiveSet new_primitive_set;
Expand All @@ -165,11 +166,17 @@ void Thunderloop::runLoop()
clock_gettime(CLOCK_MONOTONIC, &last_world_received_time);
clock_gettime(CLOCK_MONOTONIC, &last_chipper_fired);
clock_gettime(CLOCK_MONOTONIC, &last_kicker_fired);
clock_gettime(CLOCK_MONOTONIC, &prev_iter_start_time);

double loop_duration_seconds = 0.0;

for (;;)
{
struct timespec time_since_prev_iter;
clock_gettime(CLOCK_MONOTONIC, &current_time);
ScopedTimespecTimer::timespecDiff(&current_time, &prev_iter_start_time,
&time_since_prev_iter);
prev_iter_start_time = current_time;
{
// Wait until next shot
//
Expand Down Expand Up @@ -321,9 +328,11 @@ void Thunderloop::runLoop()
ScopedTimespecTimer timer(&poll_time);

ZoneNamedN(_tracy_motor_service, "Thunderloop: Poll MotorService", true);
double time_since_prev_iter_sec =
getMilliseconds(time_since_prev_iter) * SECONDS_PER_MILLISECOND;

motor_status_ = motor_service_->poll(direct_control_.motor_control(),
loop_duration_seconds);
time_since_prev_iter_sec);
}
thunderloop_status_.set_motor_service_poll_time_ms(
getMilliseconds(poll_time));
Expand Down Expand Up @@ -364,12 +373,8 @@ void Thunderloop::runLoop()
thunderloop_status_.set_iteration_time_ms(loop_duration_ns /
NANOSECONDS_PER_MILLISECOND);

// Make sure the iteration can fit inside the period of the loop
loop_duration_seconds =
static_cast<double>(loop_duration_ns) * SECONDS_PER_NANOSECOND;

// Calculate next shot taking into account how long this iteration took
next_shot.tv_nsec += interval - static_cast<long int>(loop_duration_ns);
// Calculate next shot (which is an absolute time)
next_shot.tv_nsec += interval;
timespecNorm(next_shot);

FrameMarkEnd(TracyConstants::THUNDERLOOP_FRAME_MARKER);
Expand Down
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