feat(sensors): add a new can message to batch read sensor data #805
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| .data_length = j, | ||
| .sensor_data = data, | ||
| }; | ||
| can_client.send_can_message(can::ids::NodeId::host, response); |
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We haven't faced it before as much, but I think we can improve this a lot by changing (or adding a new version of) send_can_message that will either (a) block (by sleeping) or (b) return false when the local buffer is full. That will let us dynamically slow down data output when the buffer is full while not adding a delay all the time.
| // slow it down so the can buffer doesn't choke | ||
| vtask_hardware_delay(20); | ||
| uint8_t j = 0; | ||
| while (j < 14 and i < count) { |
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We absolutely need some tests for the fiddly index math.
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also can use j < data.size() or even take this to a range-for that stops early a la
for (auto& copy_to : data) {
if (i >= count) {
break;
}
copy_to = mmr920::reading_to_fixed_point(sensor_buffer->at(current_index));
i++;
current_index = (i + start) % static_cast<int>(SENSOR_BUFFER_SIZE);
}| for (int i = 0; i < count; i++) { | ||
| std::array<uint32_t, 14> data{}; | ||
| int i = 0; | ||
| while (i < count) { |
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could make this for(size_t i = 0; i < count; ) { } if we wanted. in general, seems like we could use a size here instead of a signed value.
| @@ -315,24 +315,32 @@ class MMR920 { | |||
| can_client.send_can_message( | |||
| can::ids::NodeId::host, | |||
| can::messages::Acknowledgment{.message_index = count}); | |||
| for (int i = 0; i < count; i++) { | |||
| std::array<uint32_t, 14> data{}; | |||
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would love to see this 14 derived from somewhere
|
Marking as draft since Caila didn't get a chance to use this before her trip. I'll clean it up and make it better styled |
In a first step to streamline tool_sensors.py we want to batch read sensor data, this will speed up the process and let us stream alot better