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micd: fix fake lagging warnings #34158

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merged 3 commits into from
Dec 5, 2024
Merged

micd: fix fake lagging warnings #34158

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e29af73
micd: fix fake lagging warnings
adeebshihadeh Dec 5, 2024
a19deef
fix it properly
adeebshihadeh Dec 5, 2024
74be75a
simple
adeebshihadeh Dec 5, 2024
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8 changes: 6 additions & 2 deletions common/realtime.py
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Original file line number Diff line number Diff line change
Expand Up @@ -48,13 +48,13 @@ class Ratekeeper:
def __init__(self, rate: float, print_delay_threshold: float | None = 0.0) -> None:
"""Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
self._interval = 1. / rate
self._next_frame_time = time.monotonic() + self._interval
self._print_delay_threshold = print_delay_threshold
self._frame = 0
self._remaining = 0.0
self._process_name = getproctitle()
self._dts = deque([self._interval], maxlen=100)
self._last_monitor_time = time.monotonic()
self._last_monitor_time = -1.
self._next_frame_time = -1.

@property
def frame(self) -> int:
Expand All @@ -79,6 +79,10 @@ def keep_time(self) -> bool:

# Monitors the cumulative lag, but does not enforce a rate
def monitor_time(self) -> bool:
if self._last_monitor_time < 0:
self._next_frame_time = time.monotonic() + self._interval
self._last_monitor_time = time.monotonic()

prev = self._last_monitor_time
self._last_monitor_time = time.monotonic()
self._dts.append(self._last_monitor_time - prev)
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