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car_fmw, car_srv, server: debug statistic for sonar

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This commit is contained in:
e5l
2016-08-31 09:35:55 +03:00
parent 2f71a18308
commit 728cb18834
13 changed files with 164 additions and 63 deletions
Download Patch File Download Diff File Expand all files Collapse all files
car_fmw/src/Control.kt
+12
View File
@@ -25,6 +25,7 @@ object Control {
when (request.type.id) {
DebugRequest.Type.MEMORY_STATS.id -> sendMemoryStats()
DebugRequest.Type.SONAR_STATS.id -> sendSonarStats()
}
}
@@ -129,4 +130,15 @@ object Control {
Writer.writeMemoryStats(stats)
}
private fun sendSonarStats() {
val stats = DebugResponseSonarStats.BuilderDebugResponseSonarStats(
DebugSonarInfo.getMeasurementCount(),
DebugSonarInfo.getMeasurementFailedChecksum(),
DebugSonarInfo.getMeasurementFailedDistance(),
DebugSonarInfo.getMeasurementFailedCommand()
).build()
Writer.writeSonarStats(stats)
}
}
car_fmw/src/ProtoRW.kt
+6
View File
@@ -48,6 +48,12 @@ object Writer {
Connection.sendByteArray(stream.buffer)
}
fun writeSonarStats(stats: DebugResponseSonarStats) {
val stream = getOutputStream(stats.getSizeNoTag())
stats.writeTo(stream)
Connection.sendByteArray(stream.buffer)
}
fun writeSonar(response: SonarResponse) {
val stream = getOutputStream(response.getSizeNoTag())
response.writeTo(stream)
car_fmw/src/include/DebugInfo.kt
+13 -1
View File
@@ -9,4 +9,16 @@ object DebugInfo {
fun getStaticHeapTail(): Int = static_heap_tail()
fun getDynamicHeapMaxSize(): Int = dynamic_heap_max_bytes()
fun getDynamicHeapTotalBytes(): Int = dynamic_heap_total()
}
}
external fun car_sonar_get_measurement_total(): Int
external fun car_sonar_get_measurement_failed_checksum(): Int
external fun car_sonar_get_measurement_failed_distance(): Int
external fun car_sonar_get_measurement_failed_command(): Int
object DebugSonarInfo {
fun getMeasurementCount(): Int = car_sonar_get_measurement_total()
fun getMeasurementFailedChecksum(): Int = car_sonar_get_measurement_failed_checksum()
fun getMeasurementFailedDistance(): Int = car_sonar_get_measurement_failed_distance()
fun getMeasurementFailedCommand(): Int = car_sonar_get_measurement_failed_command()
}
car_fmw/src/include/Sonar.kt
+1 -1
View File
@@ -72,4 +72,4 @@ object Sonar {
fun calibrate() {
getDistance(180)
}
}
}
car_hw/src/car_sonar.c
+44 -4
View File
@@ -11,6 +11,11 @@
#define BACK_ANGLE 40
#define MAX_DEGREE 180
uint32_t measurement_count = 0;
uint32_t measurement_failed_checksum = 0;
uint32_t measurement_failed_distance = 0;
uint32_t measurement_failed_command = 0;
static uint8_t sonar_degree(uint8_t degree)
{
if (degree > MAX_DEGREE)
@@ -40,16 +45,51 @@ static void sonar_snd_dist_req(uint8_t rot_degree)
static uint8_t sonar_resp[4];
static uint16_t sonar_wait_dist_resp(void)
{
measurement_count++;
size_t i = 0;
uint8_t sum = 0;
uint32_t distance = 0;
usart_rcv_data(USART3_ID, sonar_resp, 4);
sum = sonar_resp[0] + sonar_resp[1] + sonar_resp[2];
if ((sonar_resp[0] != SONAR_CMD_GET_DIST)
|| (sum != sonar_resp[3]))
return CAR_SONAR_DIST_ERR;
return ((uint16_t)sonar_resp[1] << 8) + sonar_resp[2];
if (sonar_resp[0] != SONAR_CMD_GET_DIST) {
measurement_failed_command++;
return CAR_SONAR_DIST_ERR;
}
if (sum != sonar_resp[3]) {
measurement_failed_checksum++;
return CAR_SONAR_DIST_ERR;
}
distance = ((uint16_t)sonar_resp[1] << 8) + sonar_resp[2];
if (distance == -1) {
measurement_failed_distance++;
}
return distance;
}
uint32_t car_sonar_get_measurement_total()
{
return measurement_count;
}
uint32_t car_sonar_get_measurement_failed_checksum()
{
return measurement_failed_checksum;
}
uint32_t car_sonar_get_measurement_failed_distance()
{
return measurement_failed_distance;
}
uint32_t car_sonar_get_measurement_failed_command()
{
return measurement_failed_command;
}
uint16_t car_sonar_get_dist(uint8_t rot_degree)
car_hw/src/include/car_sonar.h
+6
View File
@@ -22,3 +22,9 @@ void car_sonar_init(void);
// returns CAR_SONAR_DIST_ERR on error
// else distance in centimeters
uint16_t car_sonar_get_dist(uint8_t rot_degree);
uint32_t car_sonar_get_measurement_total();
uint32_t car_sonar_get_measurement_failed_checksum();
uint32_t car_sonar_get_measurement_failed_distance();
uint32_t car_sonar_get_measurement_failed_command();
car_srv/kotlinSrv/src/Main.kt
+2
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@@ -4,6 +4,7 @@ import control.emulator.Rng
import net.Client
import net.server.handlers.AbstractHandler
import net.server.handlers.debug.Memory
import net.server.handlers.debug.Sonar
import net.server.handlers.flash.LoadBin
import net.server.handlers.main.*
import net.server.handlers.rc.Control
@@ -61,6 +62,7 @@ fun main(args: Array<String>) {
handlers.put("/routeMetric", SetRouteMetric(carController))
handlers.put("/getLocation", GetLocation())
handlers.put("/debug/memory", Memory())
handlers.put("/debug/sonar", Sonar())
Client.instance.connectToServer(config.getCarIp(), carServerPort)
car_srv/kotlinSrv/src/net/server/handlers/debug/Memory.kt
+7 -12
View File
@@ -8,28 +8,23 @@ import encodeProtoBuf
import mcTransport
import net.server.handlers.AbstractHandler
class Memory : AbstractHandler {
val fromServerObjectBuilder: DebugRequest.BuilderDebugRequest
val toServerObjectBuilder: DebugResponseMemoryStats.BuilderDebugResponseMemoryStats
constructor() : super() {
fromServerObjectBuilder = DebugRequest.BuilderDebugRequest(DebugRequest.Type.MEMORY_STATS)
toServerObjectBuilder = DebugResponseMemoryStats.BuilderDebugResponseMemoryStats(0, 0, 0, 0)
}
class Memory() : AbstractHandler() {
val request = DebugRequest.BuilderDebugRequest(DebugRequest.Type.MEMORY_STATS)
val response = DebugResponseMemoryStats.BuilderDebugResponseMemoryStats(0, 0, 0, 0)
override fun getBytesResponse(data: ByteArray, callback: (ByteArray) -> Unit) {
if (!McState.instance.isConnected()) {
println("mc is disconnected!")
val responseMessage = toServerObjectBuilder.build()
val responseMessage = response.build()
callback.invoke(encodeProtoBuf(responseMessage))
return
}
mcTransport.setCallBack { bytes ->
callback.invoke(bytes)
}
val message = fromServerObjectBuilder.build()
val message = request.build()
message.mergeFrom(CodedInputStream(data))
mcTransport.sendProtoBuf(message)
}
car_srv/kotlinSrv/src/net/server/handlers/debug/Sonar.kt
+31
View File
@@ -0,0 +1,31 @@
package net.server.handlers.debug
import CodedInputStream
import DebugRequest
import DebugResponseSonarStats
import McState
import encodeProtoBuf
import mcTransport
import net.server.handlers.AbstractHandler
class Sonar : AbstractHandler() {
val request = DebugRequest.BuilderDebugRequest(DebugRequest.Type.SONAR_STATS)
val response = DebugResponseSonarStats.BuilderDebugResponseSonarStats(0, 0, 0, 0)
override fun getBytesResponse(data: ByteArray, callback: (ByteArray) -> Unit) {
if (!McState.instance.isConnected()) {
println("mc is disconnected!")
val responseMessage = response.build()
callback.invoke(encodeProtoBuf(responseMessage))
return
}
mcTransport.setCallBack { bytes ->
callback.invoke(bytes)
}
val message = request.build()
message.mergeFrom(CodedInputStream(data))
mcTransport.sendProtoBuf(message)
}
}
proto/protofiles_sources/server_car/debug.proto
+8
View File
@@ -6,6 +6,7 @@ message DebugRequest {
enum Type {
MEMORY_STATS = 0;
SONAR_STATS = 1;
}
}
@@ -15,3 +16,10 @@ message DebugResponseMemoryStats {
int32 heapDynamicMaxBytes = 3;
int32 heapDynamicTotalBytes = 4;
}
message DebugResponseSonarStats {
int32 measurementCount = 1;
int32 measurementFailedChecksum = 2;
int32 measurementFailedDistance = 3;
int32 measurementFailedCommand = 4;
}
server/src/main/java/DebugClInterface.kt
+32 -44
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@@ -8,6 +8,7 @@ import io.netty.buffer.Unpooled
import io.netty.handler.codec.http.*
import objects.Car
import objects.Environment
import java.rmi.UnexpectedException
import java.util.concurrent.Exchanger
object DebugClInterface {
@@ -92,7 +93,7 @@ object DebugClInterface {
CarClient.serialize(request.getSizeNoTag(), { request.writeTo(it) })
).get().responseBodyAsBytes
val distances = SonarExploreAngleResponse.BuilderSonarExploreAngleResponse(IntArray(0)).parseFrom(CodedInputStream(responseData)).distances
val distances = SonarExploreAngleResponse.BuilderSonarExploreAngleResponse(IntArray(0)).parseFrom(CodedInputStream(responseData)).build().distances
println("Received distances: [${distances.joinToString()}]")
}
@@ -117,51 +118,38 @@ object DebugClInterface {
private fun executeDebugInfoCommand(readString: String) {
val params = readString.split(" ")
if (params.size != 3) {
println("incorrect args of command debug info.")
println(helpString)
return
val car = Environment.map[params[1].toInt()]!!
val type = DebugRequest.Type.fromIntToType(params[2].toInt())
val request = DebugRequest.BuilderDebugRequest(type).build()
val requestType = when (type) {
DebugRequest.Type.MEMORY_STATS -> CarClient.Request.DEBUG_MEMORY
DebugRequest.Type.SONAR_STATS -> CarClient.Request.DEBUG_SONAR
else -> throw UnexpectedException(type.toString())
}
val id: Int
try {
id = params[1].toInt()
} catch (e: NumberFormatException) {
e.printStackTrace()
println("error in converting id to int type")
println(helpString)
return
}
val car: Car? =
synchronized(Environment, {
Environment.map[id]
})
if (car == null) {
println("car with id=$id not found")
return
}
val paramType = params[2]//maybe string or int
val type: DebugRequest.Type
try {
type = DebugRequest.Type.fromIntToType(paramType.toInt())
} catch (e: NumberFormatException) {
try {
type = DebugRequest.Type.valueOf(paramType)
} catch (e: IllegalArgumentException) {
type = DebugRequest.Type.Unexpected
val responseData = CarClient.sendRequest(
car,
requestType,
CarClient.serialize(request.getSizeNoTag(), { request.writeTo(it) })
).get().responseBodyAsBytes
when (type) {
DebugRequest.Type.MEMORY_STATS -> {
val data = DebugResponseMemoryStats.BuilderDebugResponseMemoryStats(0, 0, 0, 0).parseFrom(CodedInputStream(responseData)).build()
println("Heap static tail: ${data.heapStaticTail}")
println("Heap dynamic tail: ${data.heapDynamicTail}")
println("Heap dynamic max size: ${data.heapDynamicMaxBytes}")
println("Heap dynamic total size: ${data.heapDynamicTotalBytes}")
}
}
if (type == DebugRequest.Type.Unexpected) {
println("type with name/id $paramType not found")
return
}
val requestObject = DebugRequest.BuilderDebugRequest(type).build()
val bytes = ByteArray(requestObject.getSizeNoTag())
requestObject.writeTo(CodedOutputStream(bytes))
val request = getDefaultHttpRequest(car.host, debugMemoryUrl, bytes)
try {
Client.sendRequest(request, car.host, car.port, getRequestOptionId(car.uid))
} catch (e: InactiveCarException) {
println("this car is inactive")
DebugRequest.Type.SONAR_STATS -> {
val data = DebugResponseSonarStats.BuilderDebugResponseSonarStats(0, 0, 0, 0).parseFrom(CodedInputStream(responseData)).build()
println("Sonar measurement total: ${data.measurementCount}")
println("Failed checksums: ${data.measurementFailedChecksum}")
println("Failed command: ${data.measurementFailedCommand}")
println("Failed distance: ${data.measurementFailedDistance}")
}
else -> throw UnexpectedException(type.toString())
}
}
server/src/main/java/RoomScanner/CarController.kt
+1 -1
View File
@@ -38,7 +38,7 @@ class CarController(var car: Car) {
}
fun scan(angles: IntArray): List<Pair<Double, Double>> {
val request = SonarRequest.BuilderSonarRequest(angles, IntArray(angles.size, { 1 }), 10, SonarRequest.Smoothing.MEDIAN).build()
val request = SonarRequest.BuilderSonarRequest(angles, IntArray(angles.size, { 5 }), 3, SonarRequest.Smoothing.MEDIAN).build()
val data = CarClient.serialize(request.getSizeNoTag(), { i -> request.writeTo(i) })
val response = CarClient.sendRequest(car, CarClient.Request.SONAR, data).get().responseBodyAsBytes
server/src/main/java/car/client/CarClient.kt
+1
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@@ -13,6 +13,7 @@ object CarClient {
ROUTE_METRIC("routeMetric"),
SONAR("sonar"),
DEBUG_MEMORY("debug/memory"),
DEBUG_SONAR("debug/sonar"),
EXPLORE_ANGLE("sonarExplore");
}