Switch the roboRIO back to polling CAN for logging
We were waking up on each CAN frame. That is quite expensive in terms
of CPU for no gain, causing us to hit 100% CPU.
Change-Id: Ieaf408de0d745da97edd4cb8c6dec6f57f8241ef
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/frc971/can_logger/can_logger.cc b/frc971/can_logger/can_logger.cc
index 7d33464..c9e99f7 100644
--- a/frc971/can_logger/can_logger.cc
+++ b/frc971/can_logger/can_logger.cc
@@ -1,5 +1,9 @@
#include "frc971/can_logger/can_logger.h"
+DEFINE_bool(poll, false,
+ "If true, poll the CAN bus every 100ms. If false, wake up for "
+ "each frame and publish it.");
+
namespace frc971::can_logger {
CanLogger::CanLogger(aos::ShmEventLoop *event_loop,
@@ -35,7 +39,14 @@
CHECK_EQ(opt_size, sizeof(recieve_buffer_size));
VLOG(0) << "CAN recieve bufffer is " << recieve_buffer_size << " bytes large";
- shm_event_loop_->epoll()->OnReadable(fd_.get(), [this]() { Poll(); });
+ if (FLAGS_poll) {
+ aos::TimerHandler *timer_handler =
+ shm_event_loop_->AddTimer([this]() { Poll(); });
+ timer_handler->set_name("CAN logging Loop");
+ timer_handler->Schedule(event_loop->monotonic_now(), kPollPeriod);
+ } else {
+ shm_event_loop_->epoll()->OnReadable(fd_.get(), [this]() { Poll(); });
+ }
}
void CanLogger::Poll() {