Refactor radar system

data_acq_and_processing/preprocessing/data_preprocessor/src/data_preprocessor.cpp

@@ -1,14 +1,13 @@
 #include "data_preprocessor.hpp"
+#include "runtime_wait.hpp"
 
 #include <algorithm>
-#include <chrono>
 #include <cmath>
 #include <cstdint>
 #include <iostream>
 #include <span>
 #include <stdexcept>
 #include <string_view>
-#include <thread>
 #include <vector>
 
 namespace radar::preprocessing {
@@ -117,7 +116,6 @@ auto DataPreprocessor::try_pop_raw_collection(
     ipc::RawSweepCollection* out_collection
 ) -> bool {
     if (!raw_ring_.pop(serialized_raw)) {
-        std::this_thread::sleep_for(std::chrono::milliseconds(config_.runtime.idle_sleep_ms));
         return false;
     }
 
@@ -145,6 +143,7 @@ void DataPreprocessor::run(const std::atomic<bool>& stop_requested) {
     while (!stop_requested.load(std::memory_order_relaxed)) {
         try {
             if (!try_pop_raw_collection(serialized_raw, &raw_collection)) {
+                (void)config::wait_or_stop(config_.runtime.idle_sleep_ms, stop_requested);
                 continue;
             }
             const auto preprocessed_collection = preprocess_collection(raw_collection);
@@ -174,7 +173,7 @@ void DataPreprocessor::run(const std::atomic<bool>& stop_requested) {
             // Back-off floored at 1ms (the empty-ring sleep is never reached while a
             // persistent error keeps the ring non-empty) so the catch cannot busy-spin
             // a CPU core even when idle_sleep_ms is configured to 0.
-            std::this_thread::sleep_for(std::chrono::milliseconds(std::max<int>(1, config_.runtime.idle_sleep_ms)));
+            (void)config::wait_or_stop(std::max(1U, config_.runtime.idle_sleep_ms), stop_requested);
         }
     }
 }