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main: revert resampling, report per-channel

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This commit is contained in:
Astro 2019-09-17 01:42:50 +02:00
parent a7ee2107ea
commit 4c00548646
3 changed files with 65 additions and 91 deletions
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24
firmware/src/command_parser.rs
View File

@ -10,7 +10,6 @@ use nom::{
error::ErrorKind,
};
use lexical_core as lexical;
use super::session::ReportMode;
#[derive(Clone, Debug)]
@ -63,7 +62,8 @@ impl fmt::Display for Error {
#[derive(Debug, Clone)]
pub enum ShowCommand {
ReportMode,
Input,
Reporting,
Pid,
}
@ -83,7 +83,7 @@ pub enum PidParameter {
pub enum Command {
Quit,
Show(ShowCommand),
Report(ReportMode),
Reporting(bool),
Pwm {
width: u32,
total: u32,
@ -112,10 +112,9 @@ fn float(input: &[u8]) -> IResult<&[u8], Result<f32, lexical::Error>> {
Ok((input, result))
}
fn report_mode(input: &[u8]) -> IResult<&[u8], ReportMode> {
alt((value(ReportMode::Off, tag("off")),
value(ReportMode::Once, tag("once")),
value(ReportMode::Continuous, tag("continuous"))
fn off_on(input: &[u8]) -> IResult<&[u8], bool> {
alt((value(false, tag("off")),
value(true, tag("on"))
))(input)
}
@ -133,13 +132,16 @@ fn report(input: &[u8]) -> IResult<&[u8], Command> {
alt((
preceded(
whitespace,
map(report_mode,
|mode| Command::Report(mode))
// `report mode <on | off>` - Switch repoting mode
map(off_on,
|reporting| Command::Reporting(reporting))
),
|input| Ok((input, Command::Show(ShowCommand::ReportMode)))
// `report mode` - Show current reporting state
|input| Ok((input, Command::Show(ShowCommand::Reporting)))
))
)),
|input| Ok((input, Command::Report(ReportMode::Once)))
// `report` - Report once
|input| Ok((input, Command::Show(ShowCommand::Input)))
))
)(input)
}

65
firmware/src/main.rs
View File

@ -76,8 +76,6 @@ macro_rules! create_socket {
)
}
/// In nanoseconds
const REPORT_INTERVAL: u64 = 100_000;
const DEFAULT_PID_PARAMETERS: pid::Parameters = pid::Parameters {
kp: 1.0,
ki: 1.0,
@ -88,6 +86,8 @@ const DEFAULT_PID_PARAMETERS: pid::Parameters = pid::Parameters {
integral_max: 0xffff as f32,
};
pub const CHANNELS: usize = 2;
#[entry]
fn main() -> ! {
let mut stdout = hio::hstdout().unwrap();
@ -204,11 +204,7 @@ fn main() -> ! {
(Session::new(), tcp_handle7),
];
let mut last_report = get_time();
let mut next_report = get_time();
// cumulative (sum, count)
let mut sample = [(0u64, 0usize); 2];
let mut report = [None; 2];
let mut report = [None; CHANNELS];
loop {
// ADC input
adc.data_ready()
@ -216,30 +212,14 @@ fn main() -> ! {
writeln!(stdout, "ADC error: {:?}", e).unwrap();
None
}).map(|channel| {
let now = get_time();
let data = adc.read_data().unwrap();
sample[usize::from(channel)].0 += u64::from(data);
sample[usize::from(channel)].1 += 1;
});
let now = get_time();
if now >= next_report {
if now < next_report + REPORT_INTERVAL {
// Try to keep interval constant
next_report += REPORT_INTERVAL;
} else {
// Bad jitter, catch up
next_report = now + REPORT_INTERVAL;
}
for (channel, sample) in sample.iter().enumerate() {
if sample.1 > 0 {
// TODO: calculate med instead of avg?
report[channel] = Some(sample.0 / (sample.1 as u64));
report[usize::from(channel)] = Some((now, data));
for (session, _) in sessions_handles.iter_mut() {
session.set_report_pending(channel.into());
}
}
for (session, _) in sessions_handles.iter_mut() {
session.set_report_pending();
}
last_report = get_time();
}
});
for (session, tcp_handle) in sessions_handles.iter_mut() {
let socket = &mut *sockets.get::<TcpSocket>(*tcp_handle);
@ -260,11 +240,18 @@ fn main() -> ! {
Ok(SessionOutput::Command(command)) => match command {
Command::Quit =>
socket.close(),
Command::Report(mode) => {
let _ = writeln!(socket, "Report mode: {}", mode);
Command::Reporting(reporting) => {
let _ = writeln!(socket, "Report mode set to {}", if reporting { "on" } else { "off" });
}
Command::Show(ShowCommand::ReportMode) => {
let _ = writeln!(socket, "Report mode: {}", session.report_mode());
Command::Show(ShowCommand::Reporting) => {
let _ = writeln!(socket, "Report mode: {}", if session.reporting() { "on" } else { "off" });
}
Command::Show(ShowCommand::Input) => {
for (channel, report) in report.iter().enumerate() {
report.map(|(time, data)| {
let _ = writeln!(socket, "t={}, sens{}={}", time, channel, data);
});
}
}
Command::Show(ShowCommand::Pid) => {
let _ = writeln!(socket, "PID settings");
@ -316,15 +303,13 @@ fn main() -> ! {
Err(_) => {}
}
}
if socket.may_send() && session.is_report_pending() {
let _ = write!(socket, "t={}", last_report);
for (channel, report_data) in report.iter().enumerate() {
report_data.map(|report_data| {
let _ = write!(socket, " sens{}={:06X}", channel, report_data);
if socket.may_send() {
if let Some(channel) = session.is_report_pending() {
report[channel].map(|(time, data)| {
let _ = writeln!(socket, "t={} sens{}={:06X}", time, channel, data);
});
session.mark_report_sent(channel);
}
let _ = writeln!(socket, "");
session.mark_report_sent();
}
}
match iface.poll(&mut sockets, Instant::from_millis((get_time() / 1000) as i64)) {

67
firmware/src/session.rs
View File

@ -1,6 +1,6 @@
use core::ops::Deref;
use core::fmt;
use super::command_parser::{Command, Error as ParserError};
use super::CHANNELS;
const MAX_LINE_LEN: usize = 64;
@ -54,23 +54,6 @@ impl Deref for LineResult {
}
}
#[derive(Debug, Clone, Copy)]
pub enum ReportMode {
Off,
Once,
Continuous,
}
impl fmt::Display for ReportMode {
fn fmt(&self, fmt: &mut fmt::Formatter) -> Result<(), fmt::Error> {
match self {
ReportMode::Off => "off",
ReportMode::Once => "once",
ReportMode::Continuous => "continuous",
}.fmt(fmt)
}
}
pub enum SessionOutput {
Nothing,
Command(Command),
@ -86,16 +69,16 @@ impl From<Result<Command, ParserError>> for SessionOutput {
pub struct Session {
reader: LineReader,
report_mode: ReportMode,
report_pending: bool,
reporting: bool,
report_pending: [bool; CHANNELS],
}
impl Session {
pub fn new() -> Self {
Session {
reader: LineReader::new(),
report_mode: ReportMode::Off,
report_pending: false,
reporting: false,
report_pending: [false; CHANNELS],
}
}
@ -103,30 +86,34 @@ impl Session {
self.reader.pos > 0
}
pub fn report_mode(&self) -> ReportMode {
self.report_mode
pub fn reporting(&self) -> bool {
self.reporting
}
pub fn set_report_pending(&mut self) {
self.report_pending = true;
}
pub fn is_report_pending(&self) -> bool {
match self.report_mode {
ReportMode::Off => false,
_ => self.report_pending,
pub fn set_report_pending(&mut self, channel: usize) {
if self.reporting {
self.report_pending[channel] = true;
}
}
pub fn mark_report_sent(&mut self) {
self.report_pending = false;
match self.report_mode {
ReportMode::Once =>
self.report_mode = ReportMode::Off,
_ => {}
pub fn is_report_pending(&self) -> Option<usize> {
if ! self.reporting {
None
} else {
self.report_pending.iter()
.enumerate()
.fold(None, |result, (channel, report_pending)| {
result.or_else(|| {
if *report_pending { Some(channel) } else { None }
})
})
}
}
pub fn mark_report_sent(&mut self, channel: usize) {
self.report_pending[channel] = false;
}
pub fn feed(&mut self, buf: &[u8]) -> (usize, SessionOutput) {
let mut buf_bytes = 0;
for (i, b) in buf.iter().enumerate() {
@ -136,8 +123,8 @@ impl Session {
Some(line) => {
let command = Command::parse(&line);
match command {
Ok(Command::Report(mode)) => {
self.report_mode = mode;
Ok(Command::Reporting(reporting)) => {
self.reporting = reporting;
}
_ => {}
}