High resolution periodic timer in Qt on Windows (also OS X, Linux) - c++

Question

Everything I've found so far regarding timers is that it's, at best, available at a 1ms resolution. QTimer's docs claim that's the best it can provide.
I understand that OSes like Windows are not real-time OSes, but I still want to ask this question in hopes that someone knows something that could help.
So, I'm writing an app that requires a function to be called at a fairly precise but arbitrary interval, say 60 times/sec (full range: 59-61Hz). That means I need it to be called, on average, every ~16.67ms. This part of the design can't change.
The best timing source I currently have is vsync. When I go off of that, it's pretty good. It's not ideal, because the monitor's frequency is not exactly what I need to call this function at, but it can be somewhat compensated for.
The kicker is that the level of accuracy given the range I'm after is more or less available with timers, but not the level of precision I want. I can get a 16ms timer to hit exactly 16ms ~97% of the time. I can get a 17ms timer to hit exactly 17ms ~97% of the time. But no API exists to get me 16.67?
Is what I'm looking for simply not possible?
Background: The project is called Phoenix. Essentially, it's a libretro frontend. Libretro "cores" are game console emulators encapsulated in individual shared libraries. The API function being called at a specific rate is retro_run(). Each call emulates a game frame and calls callbacks for audio, video and so on. In order to emulate at a console's native framerate, we must call retro_run() at exactly (or as close to) this rate, hence the timer.

Answer 1

You could write a loop that checks std::chrono::high_resolution_clock() and std::this_thread::yield() until the right time has elapsed. If the program needs to be responsive while this is going on, you should do it in a separate thread from the one checking the main loop.
Some example code:
http://en.cppreference.com/w/cpp/thread/yield
An alternative is to use QElapsedTimer with a value of PerformanceCounter. You will still need to check it from a loop, and probably will still want to yield within that loop. Example code: http://doc.qt.io/qt-4.8/qelapsedtimer.html

Answer 2

It is completely unnecessary to call retro_run at any highly controlled time in particular, as long as the average frame rate comes out right, and as long as your audio output buffers don't underflow.
First of all, you are likely to have to measuring the real time using an audio-output-based timer. Ultimately, each retro_run produces a chunk of audio. The audio buffer state with the chunk added is your timing reference: if you run early, the buffer will be too full, if you run late, the buffer will be too empty.
This error measure can be fed into a PI controller, whose output gives you the desired delay until the next invocation of retro_run. This will automatically ensure that your average rate and phase are correct. Any systematic latencies in getting retro_run active will be integrated away, etc.
Secondly, you need a way of waking yourself up at the correct moment in time. Given a target time (in terms of a performance counter, for example) to call retro_run, you'll need a source of events that wake your code up so that you can compare the time and retro_run when necessary.
The simplest way of doing this would be to reimplement QCoreApplication::notify. You'll have a chance to retro_run prior to the delivery of every event, in every event loop, in every thread. Since system events might not otherwise come often enough, you'll also want to run a timer to provide a more dependable source of events. It doesn't matter what the events are: any kind of event is good for your purpose.
I'm not familiar with threading limitations of retro_run - perhaps you can run it in any one thread at a time. In such case, you'd want to run it on the next available thread in a pool, perhaps with the exception of the main thread. So, effectively, the events (including timer events) are used as energetically cheap sources of giving you execution context.
If you choose to have a thread dedicated to retro_run, it should be a high priority thread that simply blocks on a mutex. Whenever you're ready to run retro_run when a well-timed event comes, you unlock the mutex, and the thread should be scheduled right away, since it'll preempt most other threads - and certainly all threads in your process.
OTOH, on a low core count system, the high priority thread is likely to preempt the main (gui) thread, so you might as well invoke retro_run directly from whatever thread got the well-timed event.
It might of course turn out that using events from arbitrary threads to wake up the dedicated thread introduces too much worst-case latency or too much latency spread - this will be system-specific and you may wish to collect runtime statistics, switch threading and event source strategies on the fly, and stick with the best one. The choices are:
retro_run in a dedicated thread waiting on a mutex, unlock source being any thread with a well-timed event caught via notify,
retro_run in a dedicated thread waiting for a timer (or any other) event; events still caught via notify,
retro_run in a gui thread, unlock source being the events delivered to the gui thread, still caught via notify,
any of the above, but using timer events only - note that you don't care which timer events they are, they don't need to come from your timer,
as in #4, but selective to your timer only.

Answer 3

My implementation based on Lorehead's answer. Time for all variables are in ms.
It of course needs a way to stop running and I was also thinking about subtracting half the (running average) difference between timeElapsed and interval to make the average +-n instead of +2n, where 2n is the average overshoot.
// Typical interval value: 1/60s ~= 16.67ms
void Looper::beginLoop( double interval ) {
QElapsedTimer timer;
int counter = 1;
int printEvery = 240;
int yieldCounter = 0;
double timeElapsed = 0.0;
forever {
if( timeElapsed > interval ) {
timer.start();
counter++;
if( counter % printEvery == 0 ) {
qDebug() << "Yield() ran" << yieldCounter << "times";
qDebug() << "timeElapsed =" << timeElapsed << "ms | interval =" << interval << "ms";
qDebug() << "Difference:" << timeElapsed - interval << " -- " << ( ( timeElapsed - interval ) / interval ) * 100.0 << "%";
}
yieldCounter = 0;
importantBlockingFunction();
// Reset the frame timer
timeElapsed = ( double )timer.nsecsElapsed() / 1000.0 / 1000.0;
}
timer.start();
// Running this just once means massive overhead from calling timer.start() so many times so quickly
for( int i = 0; i < 100; i++ ) {
yieldCounter++;
QThread::yieldCurrentThread();
}
timeElapsed += ( double )timer.nsecsElapsed() / 1000.0 / 1000.0;
}
}