Improve sleep resilience considering only their granularity

cguimaraes · Feb 1, 2023 · 53baf73 · 53baf73
1 parent 7d3f8b3
commit 53baf73
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Showing 7 changed files with 44 additions and 7 deletions.
diff --git a/src/system/arduino/esp32/system.c b/src/system/arduino/esp32/system.c
@@ -117,7 +117,13 @@ int8_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) { return pthread_cond_wa
 /*------------------ Sleep ------------------*/
 int z_sleep_us(unsigned int time) { return usleep(time); }
 
-int z_sleep_ms(unsigned int time) { return usleep(time * 1000U); }
+int z_sleep_ms(unsigned int time) {
+    for (unsigned int i = 0; i < time; i++) {
+        z_sleep_us(1000);
+    }
+
+    return 0;
+}
 
 int z_sleep_s(unsigned int time) { return sleep(time); }
 

diff --git a/src/system/arduino/opencr/system.c b/src/system/arduino/opencr/system.c
@@ -107,7 +107,13 @@ int z_sleep_ms(unsigned int time) {
     return 0;
 }
 
-int z_sleep_s(unsigned int time) { return z_sleep_ms(time * 1000U); }
+int z_sleep_s(unsigned int time)  {
+    for (unsigned int i = 0; i < time; i++) {
+        z_sleep_ms(1000);
+    }
+
+    return 0;
+}
 
 /*------------------ Instant ------------------*/
 void __z_clock_gettime(z_clock_t *ts) {

diff --git a/src/system/emscripten/system.c b/src/system/emscripten/system.c
@@ -89,7 +89,13 @@ int z_sleep_ms(unsigned int time) {
     return 0;
 }
 
-int z_sleep_s(unsigned int time) { return z_sleep_ms(time * 1000); }
+int z_sleep_s(unsigned int time)  {
+    for (unsigned int i = 0; i < time; i++) {
+        z_sleep_ms(1000);
+    }
+
+    return 0;
+}
 
 /*------------------ Instant ------------------*/
 z_clock_t z_clock_now(void) { return z_time_now(); }

diff --git a/src/system/espidf/system.c b/src/system/espidf/system.c
@@ -118,7 +118,13 @@ int8_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) { return pthread_cond_wa
 /*------------------ Sleep ------------------*/
 int z_sleep_us(unsigned int time) { return usleep(time); }
 
-int z_sleep_ms(unsigned int time) { return usleep(time * 1000U); }
+int z_sleep_ms(unsigned int time) {
+    for (unsigned int i = 0; i < time; i++) {
+        z_sleep_us(1000);
+    }
+
+    return 0;
+}
 
 int z_sleep_s(unsigned int time) { return sleep(time); }
 

diff --git a/src/system/mbed/system.cpp b/src/system/mbed/system.cpp
@@ -110,7 +110,8 @@ int8_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) {
 
 /*------------------ Sleep ------------------*/
 int z_sleep_us(unsigned int time) {
-    return -1;  // Not supported
+    ThisThread::sleep_for(chrono::milliseconds(((time / 1000) + (time % 1000 == 0 ? 0 : 1))));
+    return 0;
 }
 
 int z_sleep_ms(unsigned int time) {

diff --git a/src/system/unix/system.c b/src/system/unix/system.c
@@ -137,7 +137,13 @@ int8_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) { return pthread_cond_wa
 /*------------------ Sleep ------------------*/
 int z_sleep_us(unsigned int time) { return usleep(time); }
 
-int z_sleep_ms(unsigned int time) { return z_sleep_us(time * 1000U); }
+int z_sleep_ms(unsigned int time) {
+    for (unsigned int i = 0; i < time; i++) {
+        z_sleep_us(1000);
+    }
+
+    return 0;
+}
 
 int z_sleep_s(unsigned int time) { return sleep(time); }
 

diff --git a/src/system/zephyr/system.c b/src/system/zephyr/system.c
@@ -103,7 +103,13 @@ int8_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) { return pthread_cond_wa
 /*------------------ Sleep ------------------*/
 int z_sleep_us(unsigned int time) { return usleep(time); }
 
-int z_sleep_ms(unsigned int time) { return usleep(time * 1000U); }
+int z_sleep_ms(unsigned int time) {
+    for (unsigned int i = 0; i < time; i++) {
+        z_sleep_us(1000);
+    }
+
+    return 0;
+}
 
 int z_sleep_s(unsigned int time) { return sleep(time); }