Allow OnLoop() to return the maximum blocking time

Author: rovo89

libxbot-service/include/xbot-service/Service.hpp

@@ -139,9 +139,10 @@ class Service : public ServiceIo {
   void heartbeat();
 
   void runProcessing();
-  virtual void OnLoop(uint32_t now_micros, uint32_t last_tick_micros) {
+  virtual uint32_t OnLoop(uint32_t now_micros, uint32_t last_tick_micros) {
     (void)now_micros;
     (void)last_tick_micros;
+    return UINT32_MAX;
   };
 
   void HandleClaimMessage(datatypes::XbotHeader *header, const void *payload, size_t payload_len);

libxbot-service/src/Service.cpp

@@ -217,8 +217,9 @@ void xbot::service::Service::runProcessing() {
 
     // Run schedules.
     uint32_t now_micros = system::getTimeMicros();
-    OnLoop(now_micros, last_tick_micros);
-    uint32_t block_time = scheduler_.Tick(now_micros - last_tick_micros);
+    uint32_t on_loop_block_time = OnLoop(now_micros, last_tick_micros);
+    uint32_t scheduler_block_time = scheduler_.Tick(now_micros - last_tick_micros);
+    uint32_t block_time = on_loop_block_time < scheduler_block_time ? on_loop_block_time : scheduler_block_time;
     if (block_time > 1'000'000) {
       block_time = 1'000'000;
     }