BusLoadEstimation.h

Go to the documentation of this file.

/* Copyright (c) 2018 Skyward Experimental Rocketry
 * Author: Luca Erbetta
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */
 
#pragma once
 
#include <miosix.h>
#include <utils/collections/CircularBuffer.h>
 
#include <cstdint>
 
#include "CanDriverData.h"
 
using miosix::FastMutex;
using miosix::Lock;
 
namespace Boardcore
{
 
namespace Canbus
{
 
class BusLoadEstimation
{
    static constexpr uint16_t BUFFER_LEN = 100;
 
public:
    struct BusLoadInfo
    {
        float payloadBitRate;
        float totalBitRate;
        float loadPercent;
    };
 
    BusLoadEstimation(uint32_t baudRate) : baudRate(baudRate) {}
 
    void addPacket(CanPacket p)
    {
        Lock<FastMutex> l(mutex);
        c.put(PacketInfo{p.timestamp, p.length});
    }
 
    BusLoadInfo getLoadInfo()
    {
        Lock<FastMutex> l(mutex);
        if (c.count() < 2)
            return {0, 0, 0};
 
        float dt =
            (c.get(c.count() - 1).timestamp - c.get(0).timestamp) / 1000.0f;
        uint32_t sizePayload = 0;
        uint32_t sizeFrames  = 0;
 
        for (size_t i = 0; i < c.count(); ++i)
            sizePayload += c.get(i).dataLength * 8;
        sizeFrames = sizePayload + (64 + 8) * c.count();
 
        return BusLoadInfo{(sizePayload / dt), (sizeFrames / dt),
                           ((sizeFrames / dt) / baudRate) * 100};
    }
 
private:
    struct PacketInfo
    {
        uint32_t timestamp;
        uint8_t dataLength;
    };
 
    CircularBuffer<PacketInfo, BUFFER_LEN> c;
    mutable FastMutex mutex;
    uint32_t baudRate;
};
 
}  // namespace Canbus
 
}  // namespace Boardcore