g2/g2core/report.h

/*
 * report.h - Status reports and other reporting functions
 * This file is part of the g2core project
 *
 * Copyright (c) 2010 - 2018 Alden S. Hart, Jr.
 *
 * This file ("the software") is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License, version 2 as published by the
 * Free Software Foundation. You should have received a copy of the GNU General Public
 * License, version 2 along with the software.  If not, see <http://www.gnu.org/licenses/>.
 *
 * As a special exception, you may use this file as part of a software library without
 * restriction. Specifically, if other files instantiate templates or use macros or
 * inline functions from this file, or you compile this file and link it with  other
 * files to produce an executable, this file does not by itself cause the resulting
 * executable to be covered by the GNU General Public License. This exception does not
 * however invalidate any other reasons why the executable file might be covered by the
 * GNU General Public License.
 *
 * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT WITHOUT ANY
 * 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.
 */

#ifndef REPORT_H_ONCE
#define REPORT_H_ONCE

/**** Configs, Definitions and Structures ****/
// Note: If you are looking for the defaults for the status report see settings.h

#define NV_STATUS_REPORT_LEN NV_MAX_OBJECTS     // max number of status report elements - see cfgArray
                                                // **** must also line up in cfgArray, se00 - seXX ****

#define SR_THROTTLE_COUNT   4       // scale back filtered SR's during time-constrained intervals
#define MIN_ARC_QR_INTERVAL 200     // minimum interval between QRs during arc generation (in system ticks)
#define STATUS_REPORT_MAX_MS (MAX_LONG/1000)

typedef enum {                      // status report enable, verbosity and request type
    SR_OFF = 0,                     // no reports
    SR_FILTERED,                    // reports only values that have changed from the last report
    SR_VERBOSE                      // reports all values specified
} srVerbosity;

typedef enum {
    SR_REQUEST_IMMEDIATE = 0,       // request a full or filtered status report ASAP (depending on SR_VERBOSITY setting)
    SR_REQUEST_IMMEDIATE_FULL,      // request a full status report ASAP (regardless of SR_VERBOSITY setting)
    SR_REQUEST_TIMED,               // request a full or filtered status report at next timer interval (as above)
    SR_REQUEST_TIMED_FULL           // request a full status report at next timer interval (as above)
} cmStatusReportRequest;

typedef enum {                      // planner queue enable and verbosity
    QR_OFF = 0,                     // no response is provided
    QR_SINGLE,                      // queue depth reported
    QR_TRIPLE                       // queue depth reported for buffers, buffers added, buffered removed
} qrVerbosity;

typedef struct srSingleton {

    /*** config values (PUBLIC) ***/
    srVerbosity status_report_verbosity;
    int32_t status_report_interval;                     // in milliseconds

    /*** runtime values (PRIVATE) ***/
    srVerbosity status_report_request;                  // flag that SR has been requested, and what type
    uint32_t status_report_systick;                     // SysTick value for next status report
    index_t stat_index;                                 // table index value for stat - determined during initialization
    uint8_t throttle_counter;                           // slow down SRs when in a constrained time (not phat_city)
    index_t status_report_list[NV_STATUS_REPORT_LEN];   // status report elements to report
    float status_report_value[NV_STATUS_REPORT_LEN];    // previous values for filtered reporting

} srSingleton_t;

typedef struct qrSingleton {        // data for queue reports

    /*** config values (PUBLIC) ***/
    qrVerbosity queue_report_verbosity;     // queue reports enabled and verbosity level

    /*** runtime values (PRIVATE) ***/
    uint8_t queue_report_requested;         // set to true to request a report
    uint8_t buffers_available;              // stored buffer depth passed to by callback
    uint8_t prev_available;                 // buffers available at last count
    uint16_t buffers_added;                 // buffers added since last count
    uint16_t buffers_removed;               // buffers removed since last report
    uint8_t motion_mode;                    // used to detect arc movement
    uint32_t init_tick;                     // time when values were last initialized or cleared

} qrSingleton_t;

/**** Externs - See report.c for allocation ****/

extern srSingleton_t sr;
extern qrSingleton_t qr;

/**** Function Prototypes ****/

void rpt_print_message(char *msg);
stat_t rpt_exception(stat_t status, const char *msg);

stat_t rpt_er(nvObj_t *nv);
void rpt_print_loading_configs_message(void);
void rpt_print_initializing_message(void);
void rpt_print_system_ready_message(void);

void sr_init_status_report(void);
stat_t sr_set_status_report(nvObj_t *nv);
stat_t sr_request_status_report(cmStatusReportRequest request_type);
stat_t sr_status_report_callback(void);
stat_t sr_run_text_status_report(void);

stat_t sr_get(nvObj_t *nv);
stat_t sr_set(nvObj_t *nv);

stat_t sr_get_sv(nvObj_t *nv);
stat_t sr_set_sv(nvObj_t *nv);
stat_t sr_get_si(nvObj_t *nv);
stat_t sr_set_si(nvObj_t *nv);

void qr_init_queue_report(void);
void qr_request_queue_report(int8_t buffers);
stat_t qr_queue_report_callback(void);

void rx_request_rx_report(void);
stat_t rx_report_callback(void);

stat_t qr_get(nvObj_t *nv);
stat_t qi_get(nvObj_t *nv);
stat_t qo_get(nvObj_t *nv);

stat_t qr_get_qv(nvObj_t *nv);
stat_t qr_set_qv(nvObj_t *nv);

#ifdef __TEXT_MODE

    void sr_print_sr(nvObj_t *nv);
    void sr_print_si(nvObj_t *nv);
    void sr_print_sv(nvObj_t *nv);
    void qr_print_qv(nvObj_t *nv);
    void qr_print_qr(nvObj_t *nv);
    void qr_print_qi(nvObj_t *nv);
    void qr_print_qo(nvObj_t *nv);

#else

    #define sr_print_sr tx_print_stub
    #define sr_print_si tx_print_stub
    #define sr_print_sv tx_print_stub
    #define qr_print_qv tx_print_stub
    #define qr_print_qr tx_print_stub
    #define qr_print_qi tx_print_stub
    #define qr_print_qo tx_print_stub

#endif // __TEXT_MODE

#endif // End of include guard: REPORT_H_ONCE