dd

deanlee · May 29, 2024 · e32dd78 · e32dd78
1 parent 1806010
commit e32dd78
Showing 1 changed file with 10 additions and 7 deletions.
diff --git a/messaging/impl_msgq.cc b/messaging/impl_msgq.cc
@@ -1,12 +1,17 @@
 #include <cassert>
 #include <cstring>
 #include <iostream>
-#include <chrono>
 #include <csignal>
 
 #include "cereal/services.h"
 #include "cereal/messaging/impl_msgq.h"
 
+static inline uint64_t nanos_since_boot() {
+  struct timespec t;
+  clock_gettime(CLOCK_BOOTTIME, &t);
+  return t.tv_sec * 1000000000ULL + t.tv_nsec;
+}
+
 static bool service_exists(std::string path){
   return services.count(path) > 0;
 }
@@ -80,10 +85,9 @@ Message *MSGQSubSocket::receive(bool non_blocking) {
     sigaddset(&mask, SIGTERM);
     sigprocmask(SIG_BLOCK, &mask, nullptr);
 
-    int64_t timeout_ns = ((timeout != -1) ? timeout : 100) * 1000000;
-    int64_t remaining = timeout_ns;
-    auto start_time = std::chrono::steady_clock::now();
-
+    int64_t timieout_ns = ((timeout != -1) ? timeout : 100) * 1000000;
+    int64_t remaining = timieout_ns;
+    uint64_t start_ns = nanos_since_boot();
     while (rc == 0 && remaining > 0) {
       struct timespec ts {remaining / 1000000000, remaining % 1000000000};
       int ret = sigtimedwait(&mask, nullptr, &ts);
@@ -95,8 +99,7 @@ Message *MSGQSubSocket::receive(bool non_blocking) {
       }
 
       rc = msgq_msg_recv(&msg, q);
-      auto elapsed_time = std::chrono::steady_clock::now() - start_time;
-      remaining = timeout == -1 ? timeout_ns : (timeout_ns - std::chrono::duration_cast<std::chrono::nanoseconds>(elapsed_time).count());
+      remaining = timeout == -1 ? timieout_ns : (timieout_ns - (nanos_since_boot() - start_ns));
     }
     sigprocmask(SIG_UNBLOCK, &mask, nullptr);
   }