Replace usleep with util::sleep_for (#19643)

* replace usleep with sleep_for

* sleep microseconds

* sleep nanoseconds

* Trigger Build

installer/updater/updater.cc

@@ -465,7 +465,7 @@ struct Updater {
       while(battery_cap < min_battery_cap) {
         battery_cap = battery_capacity();
         battery_cap_text = std::to_string(battery_cap);
-        usleep(1000000);
+        util::sleep_for(1000);
       }
       set_running();
     }
@@ -483,7 +483,7 @@ struct Updater {
       while(battery_cap < min_battery_cap) {
         battery_cap = battery_capacity();
         battery_cap_text = std::to_string(battery_cap);
-        usleep(1000000);
+        util::sleep_for(1000);
       }
       set_running();
     }
@@ -756,7 +756,7 @@ struct Updater {
       assert(glGetError() == GL_NO_ERROR);
 
       // no simple way to do 30fps vsync with surfaceflinger...
-      usleep(30000);
+      util::sleep_for(30);
     }
 
     if (update_thread_handle.joinable()) {

selfdrive/boardd/boardd.cc

@@ -22,6 +22,7 @@
 #include "cereal/gen/cpp/car.capnp.h"
 
 #include "common/util.h"
+#include "common/utilpp.h"
 #include "common/params.h"
 #include "common/swaglog.h"
 #include "common/timing.h"
@@ -85,7 +86,7 @@ void safety_setter_thread() {
       LOGW("got CarVin %s", str_vin.c_str());
       break;
     }
-    usleep(100*1000);
+    util::sleep_for(100);
   }
 
   // VIN query done, stop listening to OBDII
@@ -101,7 +102,7 @@ void safety_setter_thread() {
 
     params = Params().read_db_bytes("CarParams");
     if (params.size() > 0) break;
-    usleep(100*1000);
+    util::sleep_for(100);
   }
   LOGW("got %d bytes CarParams", params.size());
 
@@ -193,7 +194,7 @@ bool usb_connect() {
 // must be called before threads or with mutex
 void usb_retry_connect() {
   LOGW("attempting to connect");
-  while (!usb_connect()) { usleep(100*1000); }
+  while (!usb_connect()) { util::sleep_for(100); }
   LOGW("connected to board");
 }
 
@@ -260,8 +261,7 @@ void can_recv_thread() {
     uint64_t cur_time = nanos_since_boot();
     int64_t remaining = next_frame_time - cur_time;
     if (remaining > 0){
-      useconds_t sleep = remaining / 1000;
+      std::this_thread::sleep_for(std::chrono::nanoseconds(remaining));
-      usleep(sleep);
     } else {
       if (ignition){
         LOGW("missed cycles (%d) %lld", (int)-1*remaining/dt, remaining);
@@ -288,7 +288,7 @@ void can_health_thread() {
 
     healthData.setHwType(cereal::HealthData::HwType::UNKNOWN);
     pm.send("health", msg);
-    usleep(500*1000);
+    util::sleep_for(500);
   }
 
   // run at 2hz
@@ -388,7 +388,7 @@ void can_health_thread() {
     }
     pm.send("health", msg);
     panda->send_heartbeat();
-    usleep(500*1000);
+    util::sleep_for(500);
   }
 }
 
@@ -508,7 +508,7 @@ void pigeon_thread() {
     ignition_last = ignition;
 
     // 10ms - 100 Hz
-    usleep(10*1000);
+    util::sleep_for(10);
   }
 
   delete pigeon;

selfdrive/boardd/panda.cc

@@ -6,7 +6,7 @@
 
 #include "common/swaglog.h"
 #include "common/gpio.h"
-
+#include "common/utilpp.h"
 #include "panda.h"
 
 #ifdef QCOM2
@@ -30,7 +30,7 @@ void panda_set_power(bool power){
   err += gpio_set(GPIO_STM_RST_N, is_legacy ? false : true);
   err += gpio_set(GPIO_STM_BOOT0, false);
 
-  usleep(100*1000); // 100 ms
+  util::sleep_for(100); // 100 ms
 
   err += gpio_set(GPIO_STM_RST_N, is_legacy ? power : (!power));
   assert(err == 0);

selfdrive/boardd/pigeon.cc

@@ -6,6 +6,7 @@
 
 #include "common/swaglog.h"
 #include "common/gpio.h"
+#include "common/utilpp.h"
 
 #include "pigeon.h"
 
@@ -32,27 +33,27 @@ Pigeon * Pigeon::connect(const char * tty){
 }
 
 void Pigeon::init() {
-  usleep(1000*1000);
+  util::sleep_for(1000);
   LOGW("panda GPS start");
 
   // power off pigeon
   set_power(0);
-  usleep(100*1000);
+  util::sleep_for(100);
 
   // 9600 baud at init
   set_baud(9600);
 
   // power on pigeon
   set_power(1);
-  usleep(500*1000);
+  util::sleep_for(500);
 
   // baud rate upping
   send("\x24\x50\x55\x42\x58\x2C\x34\x31\x2C\x31\x2C\x30\x30\x30\x37\x2C\x30\x30\x30\x33\x2C\x34\x36\x30\x38\x30\x30\x2C\x30\x2A\x31\x35\x0D\x0A"s);
-  usleep(100*1000);
+  util::sleep_for(100);
 
   // set baud rate to 460800
   set_baud(460800);
-  usleep(100*1000);
+  util::sleep_for(100);
 
   // init from ubloxd
   // To generate this data, run test/ubloxd.py with the print statements enabled in the write function in panda/python/serial.py

selfdrive/camerad/cameras/camera_qcom.cc

@@ -21,6 +21,7 @@
 #include "msm_cam_sensor.h"
 
 #include "common/util.h"
+#include "common/utilpp.h"
 #include "common/timing.h"
 #include "common/swaglog.h"
 #include "common/params.h"
@@ -2025,7 +2026,7 @@ static void* ops_thread(void* arg) {
       front_op_id_last = front_op.op_id;
     }
 
-    usleep(50000);
+    util::sleep_for(50);
   }
 
   return NULL;

selfdrive/camerad/cameras/camera_qcom2.cc

@@ -13,6 +13,7 @@
 #include <atomic>
 
 #include "common/util.h"
+#include "common/utilpp.h"
 #include "common/swaglog.h"
 #include "camera_qcom2.h"
 
@@ -1087,7 +1088,7 @@ static void* ae_thread(void* arg) {
       }
     }
 
-    usleep(50000);
+    util::sleep_for(50);
   }
 
   return NULL;

selfdrive/common/params.cc

@@ -291,7 +291,7 @@ int Params::read_db_value_blocking(const char* key, char** value, size_t* value_
     if (result == 0) {
       break;
     } else {
-      usleep(100000); // 0.1 s
+      util::sleep_for(100); // 0.1 s
     }
   }
 

selfdrive/loggerd/loggerd.cc

@@ -242,7 +242,7 @@ void encoder_thread(RotateState *rotate_state, int cam_idx) {
     int err = visionstream_init(&stream, cameras_logged[cam_idx].stream_type, false, &buf_info);
     if (err != 0) {
       LOGD("visionstream connect fail");
-      usleep(100000);
+      util::sleep_for(100);
       continue;
     }
 

selfdrive/loggerd/tests/testraw.cc

@@ -6,7 +6,7 @@
 
 #include "common/visionipc.h"
 #include "common/timing.h"
-
+#include "common/utilpp.h"
 #include "RawLogger.h"
 
 int main() {
@@ -19,7 +19,7 @@ int main() {
     err = visionstream_init(&stream, VISION_STREAM_YUV, false, &buf_info);
     if (err != 0) {
       printf("visionstream fail\n");
-      usleep(100000);
+      util::sleep_for(100);
     }
     break;
   }

selfdrive/modeld/dmonitoringmodeld.cc

@@ -5,6 +5,7 @@
 #include <cassert>
 #include <sys/resource.h>
 
+#include "common/utilpp.h"
 #include "common/visionbuf.h"
 #include "common/visionipc.h"
 #include "common/swaglog.h"
@@ -42,7 +43,7 @@ int main(int argc, char **argv) {
     err = visionstream_init(&stream, VISION_STREAM_YUV_FRONT, true, &buf_info);
     if (err) {
       printf("visionstream connect fail\n");
-      usleep(100000);
+      util::sleep_for(100);
       continue;
     }
     LOGW("connected with buffer size: %d", buf_info.buf_len);

selfdrive/modeld/modeld.cc

@@ -8,6 +8,7 @@
 #include "common/visionipc.h"
 #include "common/swaglog.h"
 #include "common/clutil.h"
+#include "common/utilpp.h"
 
 #include "models/driving.h"
 #include "messaging.hpp"
@@ -132,7 +133,7 @@ int main(int argc, char **argv) {
     err = visionstream_init(&stream, VISION_STREAM_YUV, true, &buf_info);
     if (err) {
       LOGW("visionstream connect failed");
-      usleep(100000);
+      util::sleep_for(100);
       continue;
     }
     LOGW("connected with buffer size: %d", buf_info.buf_len);

selfdrive/proclogd/proclogd.cc

@@ -235,7 +235,7 @@ int main() {
 
     publisher.send("procLog", msg);
 
-    usleep(2000000); // 2 secs
+    util::sleep_for(2000); // 2 secs
   }
 
   return 0;

selfdrive/sensord/sensors/bmx055_magn.cc

@@ -3,6 +3,7 @@
 #include <unistd.h>
 
 #include "common/swaglog.h"
+#include "common/utilpp.h"
 
 #include "bmx055_magn.hpp"
 
@@ -37,7 +38,7 @@ int BMX055_Magn::init(){
     LOGE("Enabling power failed: %d", ret);
     goto fail;
   }
-  usleep(5 * 1000); // wait until the chip is powered on
+  util::sleep_for(5); // wait until the chip is powered on
 
   // read chip ID
   ret = read_register(BMX055_MAGN_I2C_REG_ID, buffer, 1);