implement info command

8 files changed, 61 insertions, 4 deletions

diff --git a/robot/hypervisor.c b/robot/hypervisor.c
index c4e7aba..0baa406 100644
--- a/robot/hypervisor.c
+++ b/robot/hypervisor.c
@@ -1,11 +1,17 @@
 #include "hypervisor.h"
+#include "../shared/util.h"
 #include "errcatch.h"
 #include "io.h"
 #include "modes.h"
 #include "orangutan_shim.h"
 #include "sercomm.h"
 
-uint64_t g_w2_hypervisor_cycles = 0;
+uint64_t g_w2_hypervisor_cycles				  = 0;
+uint64_t g_w2_hypervisor_uptime_ms			  = 0;
+unsigned long g_w2_hypervisor_ema_sercomm_ms  = 0;
+unsigned long g_w2_hypervisor_ema_errcatch_ms = 0;
+unsigned long g_w2_hypervisor_ema_io_ms		  = 0;
+unsigned long g_w2_hypervisor_ema_mode_ms	  = 0;
 
 void w2_hypervisor_main() {
 #ifdef W2_SIM
@@ -13,6 +19,7 @@ void w2_hypervisor_main() {
 	if (DBG_ENABLE_CYCLEINFO) siminfo("cycle start\n");
 #endif
 
+	g_w2_hypervisor_uptime_ms += get_ms();
 	time_reset();
 
 	w2_sercomm_main();
@@ -24,6 +31,14 @@ void w2_hypervisor_main() {
 	w2_modes_main();
 	unsigned long mode_time = get_ms() - io_time;
 
+	// calculate exponential moving averages
+	g_w2_hypervisor_ema_sercomm_ms =
+		w2_util_exp_mov_avg(g_w2_hypervisor_ema_sercomm_ms, sercomm_time);
+	g_w2_hypervisor_ema_errcatch_ms =
+		w2_util_exp_mov_avg(g_w2_hypervisor_ema_errcatch_ms, errcatch_time);
+	g_w2_hypervisor_ema_io_ms	= w2_util_exp_mov_avg(g_w2_hypervisor_ema_io_ms, io_time);
+	g_w2_hypervisor_ema_mode_ms = w2_util_exp_mov_avg(g_w2_hypervisor_ema_mode_ms, mode_time);
+
 	if (mode_time > W2_MAX_MODULE_CYCLE_MS) w2_errcatch_throw(W2_E_WARN_CYCLE_EXPIRED);
 
 #ifdef W2_SIM
diff --git a/robot/hypervisor.h b/robot/hypervisor.h
index 35fa64c..5008c8f 100644
--- a/robot/hypervisor.h
+++ b/robot/hypervisor.h
@@ -3,6 +3,12 @@
 #include <stdint.h>
 
 extern uint64_t g_w2_hypervisor_cycles;
+extern uint64_t g_w2_hypervisor_uptime_ms;
+
+extern unsigned long g_w2_hypervisor_ema_sercomm_ms;
+extern unsigned long g_w2_hypervisor_ema_errcatch_ms;
+extern unsigned long g_w2_hypervisor_ema_io_ms;
+extern unsigned long g_w2_hypervisor_ema_mode_ms;
 
 /**
  * backbone of all other modules
diff --git a/robot/makefile b/robot/makefile
index 6de886c..a6e96ee 100644
--- a/robot/makefile
+++ b/robot/makefile
@@ -32,7 +32,7 @@ OBJ2HEX=$(PREFIX)objcopy
 
 # debug build info string
 BUILD_STR=$(shell git update-index -q --refresh; git describe --tags --dirty='*' --broken='x' | cut -c1-20)
-CFLAGS += -DW2_BUILD_STR="$(BUILD_STR)"
+CFLAGS += -DW2_BUILD_STR=\"$(BUILD_STR)\"
 
 clean::
 	rm -f *.o out.hex a.out
diff --git a/robot/sercomm.c b/robot/sercomm.c
index 293e3c6..a3ccdb0 100644
--- a/robot/sercomm.c
+++ b/robot/sercomm.c
@@ -3,6 +3,7 @@
 
 #include "../shared/bin.h"
 #include "../shared/serial_parse.h"
+#include "hypervisor.h"
 #include "orangutan_shim.h"
 #include "sercomm.h"
 
@@ -53,7 +54,7 @@ void w2_cmd_ping_rx(w2_s_bin *data) {
 
 	size_t return_size				 = sizeof(w2_s_cmd_ping_tx);
 	w2_s_cmd_ping_tx *return_message = malloc(return_size);
-	return_message->opcode			 = (message->opcode & W2_CMD_DIRECTION_MASK) | W2_CMDDIR_TX;
+	return_message->opcode			 = W2_CMD_PING | W2_CMDDIR_TX;
 	return_message->id				 = message->id;
 
 	w2_s_bin *return_message_bin = w2_bin_s_alloc(return_size, (uint8_t *)return_message);
@@ -81,7 +82,28 @@ void w2_cmd_mcfg_rx(w2_s_bin *data) { return; }
 
 void w2_cmd_sens_rx(w2_s_bin *data) { return; }
 
-void w2_cmd_info_rx(w2_s_bin *data) { return; }
+void w2_cmd_info_rx(w2_s_bin *data) {
+	w2_s_cmd_info_rx *message = malloc(w2_cmd_sizeof(data->data, data->bytes));
+	memcpy(message, data->data, data->bytes);
+
+	size_t return_size				 = sizeof(w2_s_cmd_info_tx);
+	w2_s_cmd_info_tx *return_message = malloc(return_size);
+	return_message->opcode			 = W2_CMD_INFO | W2_CMDDIR_TX;
+	strncpy((char *)return_message->build_str, W2_BUILD_STR, sizeof(return_message->build_str));
+	return_message->errcatch_ms = (uint8_t)g_w2_hypervisor_ema_errcatch_ms;
+	return_message->io_ms		= (uint8_t)g_w2_hypervisor_ema_io_ms;
+	return_message->sercomm_ms	= (uint8_t)g_w2_hypervisor_ema_sercomm_ms;
+	return_message->mode_ms		= (uint8_t)g_w2_hypervisor_ema_mode_ms;
+	return_message->uptime_s	= w2_bin_hton32((uint32_t)(g_w2_hypervisor_uptime_ms / 1e3));
+
+	w2_s_bin *return_message_bin = w2_bin_s_alloc(return_size, (uint8_t *)return_message);
+
+	w2_sercomm_append_msg(return_message_bin);
+
+	free(message);
+	free(return_message);
+	free(return_message_bin);
+}
 
 void w2_cmd_disp_rx(w2_s_bin *data) { return; }
 
diff --git a/robot/setup.c b/robot/setup.c
index f8468bf..d075c41 100644
--- a/robot/setup.c
+++ b/robot/setup.c
@@ -29,6 +29,9 @@ void w2_setup_main() {
 	serial_set_baud_rate(W2_SERIAL_BAUD);
 	serial_receive_ring(g_w2_serial_buffer, W2_SERIAL_READ_BUFFER_SIZE);
 
+	// reset timer
+	time_reset();
+
 	// indicate startup done
 	play("L50 c>c");
 }
diff --git a/shared/consts.h b/shared/consts.h
index 70efcac..f9d4c11 100644
--- a/shared/consts.h
+++ b/shared/consts.h
@@ -15,3 +15,5 @@
 #define W2_SERCOMM_BUFFER_SIZE (16)
 /** size of input (receive) buffer (in bytes) */
 #define W2_SERIAL_READ_BUFFER_SIZE (255)
+/** exponential moving average new measurement weight (double 0-1) */
+#define W2_EMA_WEIGHT (0.10)
diff --git a/shared/util.c b/shared/util.c
new file mode 100644
index 0000000..55f3491
--- /dev/null
+++ b/shared/util.c
@@ -0,0 +1,6 @@
+#include "consts.h"
+
+unsigned long w2_util_exp_mov_avg(unsigned long current_avg, unsigned long new_meas) {
+	return (unsigned long)((((double)(current_avg)) * ((double)(1.f - W2_EMA_WEIGHT))) +
+						   (((double)(new_meas)) * ((double)(W2_EMA_WEIGHT))));
+}
diff --git a/shared/util.h b/shared/util.h
new file mode 100644
index 0000000..95f4c68
--- /dev/null
+++ b/shared/util.h
@@ -0,0 +1,3 @@
+#pragma once
+
+unsigned long w2_util_exp_mov_avg(unsigned long current_avg, unsigned long new_meas);