OpenRTM-aist » OpenRTM-aist (C++)

ECのsleep時間をRTCの実行時間を考慮して計算するように修正。
数百msオーダーでの正確さはあるが、それ以上（msオーダー）ではあまり意味がない。

+++ trunk/OpenRTM-aist/src/lib/rtm/PeriodicExecutionContext.cpp 2011-04-29 11:54:13 UTC (rev 2075)
@@ -148,12 +148,24 @@
         {
           m_worker.cond_.wait();
         }
+        coil::TimeValue t0(coil::gettimeofday());
       if (m_worker.running_)
         {
           std::for_each(m_comps.begin(), m_comps.end(), invoke_worker());
         }
       m_worker.mutex_.unlock();
-        if (!m_nowait) { coil::sleep(m_period); }
+        coil::TimeValue t1(coil::gettimeofday());
+        RTC_PARANOID(("Period:    %f [s]", (double)m_period));
+        RTC_PARANOID(("Execution: %f [s]", (double)(t1 - t0)));
+        RTC_PARANOID(("Sleep:     %f [s]", (double)(m_period - (t1 - t0))));
+        coil::TimeValue t2(coil::gettimeofday());
+        if (!m_nowait && m_period > (t1 - t0))
+          {
+            RTC_PARANOID(("sleeping..."));
+            coil::sleep((coil::TimeValue)(m_period - (t1 - t0)));
+          }
+        coil::TimeValue t3(coil::gettimeofday());
+        RTC_PARANOID(("Slept:     %f [s]", (double)(t3 - t2)));
      } while (m_svc);

    return 0;