tools/replay: replace deprecated usleep(0) with std::this_thread::yield (#23544)

* use std::this_thread::yield()

* use yield in cameraServer::waitFinish

* rename waitFinish to waitForSent

selfdrive/ui/replay/camera.cc

@@ -77,10 +77,16 @@ void CameraServer::pushFrame(CameraType type, FrameReader *fr, const cereal::Enc
   if (cam.width != fr->width || cam.height != fr->height) {
     cam.width = fr->width;
     cam.height = fr->height;
-    waitFinish();
+    waitForSent();
     startVipcServer();
   }
 
   ++publishing_;
   cam.queue.push({fr, eidx});
 }
+
+void CameraServer::waitForSent() {
+  while (publishing_ > 0) {
+    std::this_thread::yield();
+  }
+}

selfdrive/ui/replay/camera.h

@@ -11,9 +11,7 @@ public:
   CameraServer(std::pair<int, int> camera_size[MAX_CAMERAS] = nullptr, bool send_yuv = false);
   ~CameraServer();
   void pushFrame(CameraType type, FrameReader* fr, const cereal::EncodeIndex::Reader& eidx);
-  inline void waitFinish() {
+  void waitForSent();
-    while (publishing_ > 0) usleep(0);
-  }
 
 protected:
   struct Camera {

selfdrive/ui/replay/replay.cc

@@ -383,7 +383,7 @@ void Replay::stream() {
           publishMessage(evt);
         } else if (camera_server_) {
           if (hasFlag(REPLAY_FLAG_FULL_SPEED)) {
-            camera_server_->waitFinish();
+            camera_server_->waitForSent();
           }
           publishFrame(evt);
         }
@@ -391,7 +391,7 @@ void Replay::stream() {
     }
     // wait for frame to be sent before unlock.(frameReader may be deleted after unlock)
     if (camera_server_) {
-      camera_server_->waitFinish();
+      camera_server_->waitForSent();
     }
 
     if (eit == events_->end() && !hasFlag(REPLAY_FLAG_NO_LOOP)) {

selfdrive/ui/replay/util.cc

@@ -305,7 +305,7 @@ void precise_nano_sleep(long sleep_ns) {
   // spin wait
   if (sleep_ns > 0) {
     while ((nanos_since_boot() - start_sleep) <= sleep_ns) {
-      usleep(0);
+      std::this_thread::yield();
     }
   }
 }