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fix: resolve bounty issue #46 - USB host mode missed cycles fix #91

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fix: resolve bounty issue #46 - USB host mode missed cycles fix #91

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20 changes: 18 additions & 2 deletions selfdrive/boardd/boardd.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -277,6 +277,10 @@ void can_recv_thread(std::vector<Panda *> pandas) {
uint64_t next_frame_time = nanos_since_boot() + dt;
std::vector<can_frame> raw_can_data;

// Track consecutive missed cycles for adaptive recovery
int consecutive_missed = 0;
const int MAX_CONSECUTIVE_MISSED = 5;

while (!do_exit && check_all_connected(pandas)) {
bool comms_healthy = true;
raw_can_data.clear();
Expand All @@ -300,10 +304,22 @@ void can_recv_thread(std::vector<Panda *> pandas) {
int64_t remaining = next_frame_time - cur_time;
if (remaining > 0) {
std::this_thread::sleep_for(std::chrono::nanoseconds(remaining));
consecutive_missed = 0;
} else {
if (ignition) {
if ((int)-1*remaining/dt > 1){
LOGW("missed cycles (%d) %lld", (int)-1*remaining/dt, remaining);
int missed = (int)(-1 * remaining / dt);
if (missed > 1) {
consecutive_missed++;
LOGW("missed cycles (%d) %lld [consecutive: %d]", missed, remaining, consecutive_missed);
}
// When too many consecutive cycles are missed (common on Android USB host
// with slow ROMs), skip ahead to prevent cascading timing failure.
// Without this, the loop keeps trying to catch up and never recovers.
if (consecutive_missed >= MAX_CONSECUTIVE_MISSED) {
LOGW("too many consecutive missed cycles (%d), resetting timing", consecutive_missed);
next_frame_time = cur_time;
consecutive_missed = 0;
continue;
}
}
next_frame_time = cur_time;
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