camera: use cybertron sleep for

modules/drivers/usb_cam/conf/usb_cam_front_conf.pb.txt

@@ -22,6 +22,6 @@ bytes_per_pixel: 2
 trigger_internal: 0 
 trigger_fps: 20
 channel_name: "/apollo/sensor/camera/obstacle/front_6mm"
-device_wait: 2.0
+device_wait_ms: 2000
 spin_rate: 0.005 
 output_type: RGB 

modules/drivers/usb_cam/conf/usb_cam_long_conf.pb.txt

@@ -22,6 +22,6 @@ bytes_per_pixel: 2
 trigger_internal: 0 
 trigger_fps: 20
 channel_name: "/apollo/sensor/camera/traffic/image_long"
-device_wait: 2.0
+device_wait_ms: 2000
 spin_rate: 0.005
 output_type: RGB

modules/drivers/usb_cam/conf/usb_cam_short_conf.pb.txt

@@ -22,6 +22,6 @@ bytes_per_pixel: 2
 trigger_internal: 0 
 trigger_fps: 20
 channel_name: "/apollo/sensor/camera/traffic/image_short"
-device_wait: 2.0
+device_wait_ms: 2000
 spin_rate: 0.005
 output_type: RGB

modules/drivers/usb_cam/proto/config.proto

@@ -43,7 +43,7 @@ message Config {
   required uint32 trigger_fps = 22 [default = 30];
   optional string channel_name = 23 [default = ""];
   // wait time when camera select timeout
-  optional float device_wait = 24 [default = 2.0];
+  optional uint32 device_wait_ms = 24 [default = 2000];
   // camera select spin time
   optional float spin_rate = 25 [default = 0.005];
   required OutputType output_type = 26;

modules/drivers/usb_cam/usb_cam_component.cc

@@ -37,7 +37,7 @@ bool UsbCamComponent::Init() {
   raw_image_->height = camera_config_->height();
   raw_image_->bytes_per_pixel = camera_config_->bytes_per_pixel();
 
-  device_wait_ = camera_config_->device_wait();
+  device_wait_ = camera_config_->device_wait_ms();
   spin_rate_ = camera_config_->spin_rate();
 
   if (camera_config_->output_type() == YUYV) {
@@ -67,8 +67,8 @@ bool UsbCamComponent::Init() {
 void UsbCamComponent::run() {
   while (!cybertron::IsShutdown()) {
     if (!camera_device_->wait_for_device()) {
-      // sleep 2s for next check
-      sleep(device_wait_);
+      // sleep for next check
+      cybertron::SleepFor(std::chrono::milliseconds(device_wait_));
       continue;
     }
 

modules/drivers/usb_cam/usb_cam_component.h

@@ -48,7 +48,7 @@ class UsbCamComponent : public Component<> {
   CameraImagePtr raw_image_ = nullptr;
   std::shared_ptr<Image> pb_image_ = nullptr;
   float spin_rate_ = 0.005;
-  float device_wait_ = 2.0;
+  uint32_t device_wait_ = 2000;
 };
 
 CYBERTRON_REGISTER_COMPONENT(UsbCamComponent)