void Port::recalculateAverageRates()
{
double pps = 0;
double bps = 0;
int n = 0;
foreach (Stream* s, mStreams)
{
if (!s->isEnabled())
continue;
double r = s->averagePacketRate();
pps += r;
bps += r * (s->frameLenAvg() + kEthOverhead) * 8;
n++;
if ((transmitMode() == OstProto::kSequentialTransmit)
&& (s->nextWhat() == Stream::e_nw_stop))
break;
}
if (n)
{
switch (transmitMode())
{
case OstProto::kSequentialTransmit:
avgPacketsPerSec_ = pps/n;
avgBitsPerSec_ = bps/n;
break;
case OstProto::kInterleavedTransmit:
avgPacketsPerSec_ = pps;
avgBitsPerSec_ = bps;
break;
default:
Q_ASSERT(false); // Unreachable!!
}
numActiveStreams_ = n;
}
else
avgPacketsPerSec_ = avgBitsPerSec_ = numActiveStreams_ = 0;
qDebug("%s: avgPps = %g avgBps = %g numActive = %d", __FUNCTION__,
avgPacketsPerSec_, avgBitsPerSec_, numActiveStreams_);
emit portRateChanged(mPortGroupId, mPortId);
}
void sendSerialPacket(struct serial *serial, volatile struct dxl_packet *packet)
{
// We have a packet for the serial bus
// First, clear the serial input buffers
serial->port->flush();
// Writing the packet in the buffer
int n = dxl_write_packet(packet, (ui8 *)serial->outputBuffer);
// Go in transmit mode
transmitMode(serial);
#if 1
// Then runs the DMA transfer
serial->txComplete = false;
serial->dmaEvent = false;
setupSerialDMA(serial, n);
dma_tube_cfg(DMA1, serial->channel, &serial->tube_config);
dma_set_priority(DMA1, serial->channel, DMA_PRIORITY_VERY_HIGH);
if (serial->index == 1) dma_attach_interrupt(DMA1, serial->channel, DMAEvent1);
if (serial->index == 2) dma_attach_interrupt(DMA1, serial->channel, DMAEvent2);
if (serial->index == 3) dma_attach_interrupt(DMA1, serial->channel, DMAEvent3);
usart_tcie(serial->port->c_dev()->regs, 1);
dma_enable(DMA1, serial->channel);
serial->packetSent = millis();
#else
// Directly send the packet
char buffer[1024];
n = dxl_write_packet(packet, (ui8 *)buffer);
for (int i=0; i<n; i++) {
serial->port->write(buffer[i]);
}
serial->port->waitDataToBeSent();
receiveMode(serial);
#endif
}
void Port::setAverageBitRate(double bitsPerSec)
{
double rate = 0;
double pps = 0;
double bps = 0;
int n = 0;
qDebug("@%s: bitsPerSec = %g", __FUNCTION__, bitsPerSec);
qDebug("@%s: avgPps = %g avgBps = %g numActive = %d", __FUNCTION__,
avgPacketsPerSec_, avgBitsPerSec_, numActiveStreams_);
foreach (Stream* s, mStreams)
{
if (!s->isEnabled())
continue;
switch (transmitMode())
{
case OstProto::kSequentialTransmit:
rate = s->averagePacketRate() * (bitsPerSec/avgBitsPerSec_);
qDebug("rate = %g", rate);
break;
case OstProto::kInterleavedTransmit:
rate = s->averagePacketRate()
+ ((s->averagePacketRate()/avgPacketsPerSec_)
* ((bitsPerSec - avgBitsPerSec_)
/ ((s->frameLenAvg()+kEthOverhead)*8)));
break;
default:
Q_ASSERT(false); // Unreachable!!
}
qDebug("cur stream pps = %g", s->averagePacketRate());
s->setAveragePacketRate(rate);
qDebug("new stream pps = %g", s->averagePacketRate());
double r = s->averagePacketRate();
pps += r;
bps += r * (s->frameLenAvg() + kEthOverhead) * 8;
n++;
if ((transmitMode() == OstProto::kSequentialTransmit)
&& (s->nextWhat() == Stream::e_nw_stop))
break;
}
if (n)
{
switch (transmitMode())
{
case OstProto::kSequentialTransmit:
avgPacketsPerSec_ = pps/n;
avgBitsPerSec_ = bps/n;
break;
case OstProto::kInterleavedTransmit:
avgPacketsPerSec_ = pps;
avgBitsPerSec_ = bps;
break;
default:
Q_ASSERT(false); // Unreachable!!
}
numActiveStreams_ = n;
}
else
avgPacketsPerSec_ = avgBitsPerSec_ = numActiveStreams_ = 0;
qDebug("%s: avgPps = %g avgBps = %g numActive = %d", __FUNCTION__,
avgPacketsPerSec_, avgBitsPerSec_, numActiveStreams_);
emit portRateChanged(mPortGroupId, mPortId);
}