mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-16 17:20:05 +00:00
Steven Palma
56 lines
2.3 KiB
Python
56 lines
2.3 KiB
Python
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import platform
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import time
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def precise_sleep(seconds: float, spin_threshold: float = 0.010, sleep_margin: float = 0.005):
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"""
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Wait for `seconds` with better precision than time.sleep alone at the expense of more CPU usage.
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Parameters:
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- seconds: duration to wait
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- spin_threshold: if remaining <= spin_threshold -> spin; otherwise sleep (seconds). Default 10ms
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- sleep_margin: when sleeping leave this much time before deadline to avoid oversleep. Default 5ms
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Note:
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The default parameters are chosen to prioritize timing accuracy over CPU usage for the common 30 FPS use case.
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"""
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if seconds <= 0:
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return
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system = platform.system()
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# On macOS and Windows the scheduler / sleep granularity can make
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# short sleeps inaccurate. Instead of burning CPU for the whole
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# duration, sleep for most of the time and spin for the final few
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# milliseconds to achieve good accuracy with much lower CPU usage.
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if system in ("Darwin", "Windows"):
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end_time = time.perf_counter() + seconds
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while True:
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remaining = end_time - time.perf_counter()
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if remaining <= 0:
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break
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# If there's more than a couple milliseconds left, sleep most
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# of the remaining time and leave a small margin for the final spin.
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if remaining > spin_threshold:
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# Sleep but avoid sleeping past the end by leaving a small margin.
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time.sleep(max(remaining - sleep_margin, 0))
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else:
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# Final short spin to hit precise timing without long sleeps.
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pass
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else:
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# On Linux time.sleep is accurate enough for most uses
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time.sleep(seconds)
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