main: add configurable poll/command rates
These are coupled in a somewhat nonintuitive manner. Previously, we would send a command every other request. Due to an oversight, we were only sending a request once per second, which meant we were reading position once every two seconds and writing position once every two seconds. However, this seemed to work pretty well (at least the radio performance was largely improved and qualitatively it seemed like the controller was doing a better job of keeping up with the pointing target). I wanted the UI to update the position more frequently, so we keep the scheme of sending a command every N requests, but we send significantly more get position requests. These can be adjusted on the fly in order to get an idea of how much the communication pattern actually impacts the pointing performance.
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125
src/main.zig
125
src/main.zig
@ -24,7 +24,9 @@ pub const RotInt = struct {
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offsets: AzEl = .{ .az = 0, .el = 0 },
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requested_posture: AzEl = .{ .az = 0, .el = 0 },
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current_posture: AzEl = .{ .az = 0, .el = 0 },
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flipflop: bool = false,
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poll_interval: u64 = 100,
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command_freq: u8 = 10,
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pollcount: u9 = 0,
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state: State = .initial,
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termbuffer: std.io.BufferedWriter(4096, std.io.AnyWriter),
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@ -38,8 +40,6 @@ pub const RotInt = struct {
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poller: xev.Timer,
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poll_completion: xev.Completion = undefined,
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const poll_interval: u64 = 1000;
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pub const State = enum {
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initial,
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rotator_connected,
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@ -99,7 +99,11 @@ pub const RotInt = struct {
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return .disarm;
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};
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if (self.flipflop) {
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// pre-increment so that this does not try to command when pollcount = 0 on the
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// first call
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self.pollcount = (self.pollcount + 1) % self.command_freq;
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if (self.pollcount == 0) {
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const mangled: AzEl = .{
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.az = self.requested_posture.az + self.offsets.az,
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.el = self.requested_posture.el + self.offsets.el,
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@ -108,7 +112,6 @@ pub const RotInt = struct {
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} else {
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self.sendRotatorCommand(.get_position);
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}
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self.flipflop = !self.flipflop;
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return .disarm;
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}
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@ -136,7 +139,7 @@ pub const RotInt = struct {
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.status => |code| if (code != .okay)
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self.warn("rotctl error {s}", .{@tagName(code)}),
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}
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self.poller.run(self.loop, &self.poll_completion, poll_interval, RotInt, self, poll);
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self.poller.run(self.loop, &self.poll_completion, self.poll_interval, RotInt, self, poll);
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}
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pub fn warn(_: *RotInt, comptime fmt: []const u8, args: anytype) void {
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@ -178,7 +181,7 @@ pub const RotInt = struct {
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const win = self.vx.window();
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win.clear();
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var lines: [3][128]u8 = undefined;
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var lines: [4][128]u8 = undefined;
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const offsets: vaxis.Segment = .{ .text = try std.fmt.bufPrint(
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lines[0][0..],
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"Offsets: Az: {d: >6.1}, El: {d: >6.1}",
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@ -194,13 +197,28 @@ pub const RotInt = struct {
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"Current: Az: {d: >6.1}, El: {d: >6.1}",
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.{ self.current_posture.az, self.current_posture.el },
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) };
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const pollinfo: vaxis.Segment = .{ .text = try std.fmt.bufPrint(
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lines[3][0..],
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"Poll: {d} ms, Command: {d} ms",
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.{ self.poll_interval, self.command_freq * self.poll_interval },
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) };
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const center = vaxis.widgets.alignment.center(win, offsets.text.len, 1);
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_ = try center.printSegment(offsets, .{});
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const center_up = win.initChild(center.x_off, center.y_off + 1, .{ .limit = requested.text.len }, .{ .limit = 1 });
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const center_up = win.initChild(center.x_off, center.y_off - 1, .{ .limit = requested.text.len }, .{ .limit = 1 });
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_ = try center_up.printSegment(requested, .{});
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const center_down = win.initChild(center.x_off, center.y_off - 1, .{ .limit = current.text.len }, .{ .limit = 1 });
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const center_down = win.initChild(center.x_off, center.y_off + 1, .{ .limit = current.text.len }, .{ .limit = 1 });
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_ = try center_down.printSegment(current, .{});
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const poll_win = win.initChild(center.x_off, center.y_off + 3, .{ .limit = pollinfo.text.len }, .{ .limit = 1 });
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_ = try poll_win.printSegment(pollinfo, .{});
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const help: vaxis.Segment = .{
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.text = "Keys: q/^c - quit, ↑/↓ - el +/- 1° (+shift - 0.1°), ←/→ - az -/+ 1° (+shift - 0.1°), ⏎ - reset offsets, ^l - redraw, w/a/s/d - poll rates",
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.style = .{ .fg = .{ .index = 245 } },
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};
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const helpwin = win.child(.{ .x_off = 0, .y_off = 0 });
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_ = try helpwin.printSegment(help, .{ .wrap = .word });
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try self.vx.render(self.termbuffer.writer().any());
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try self.termbuffer.flush();
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@ -214,44 +232,67 @@ pub const RotInt = struct {
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) xev.CallbackAction {
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const self = self_.?;
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switch (event) {
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.key_press => |key| keyp: {
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.key_press => |key| {
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var mods = key.mods;
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mods.caps_lock = false;
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mods.num_lock = false;
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const scale: f64 = if (std.meta.eql(mods, .{ .shift = true })) 1 else 10;
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const delta: AzEl = switch (key.codepoint) {
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vaxis.Key.left, vaxis.Key.kp_left => .{ .az = -0.1 * scale, .el = 0 },
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vaxis.Key.right, vaxis.Key.kp_right => .{ .az = 0.1 * scale, .el = 0 },
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vaxis.Key.up, vaxis.Key.kp_up => .{ .az = 0, .el = 0.1 * scale },
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vaxis.Key.down, vaxis.Key.kp_down => .{ .az = 0 * scale, .el = -0.1 * scale },
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'l' => {
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if (std.meta.eql(mods, .{ .ctrl = true }))
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self.vx.queueRefresh();
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break :keyp;
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},
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'c' => {
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if (std.meta.eql(mods, .{ .ctrl = true })) {
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loop.stop();
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return .disarm;
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}
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break :keyp;
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},
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'q' => {
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if (std.meta.eql(mods, .{})) {
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loop.stop();
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return .disarm;
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}
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break :keyp;
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},
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else => break :keyp,
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};
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switch (key.codepoint) {
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vaxis.Key.left,
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vaxis.Key.kp_left,
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vaxis.Key.right,
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vaxis.Key.kp_right,
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vaxis.Key.up,
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vaxis.Key.kp_up,
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vaxis.Key.down,
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vaxis.Key.kp_down,
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vaxis.Key.enter,
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vaxis.Key.kp_enter,
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=> |arrow| {
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const scale: f64 = if (std.meta.eql(mods, .{ .shift = true })) 1 else 10;
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const delta: AzEl = switch (arrow) {
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vaxis.Key.left, vaxis.Key.kp_left => .{ .az = -0.1 * scale, .el = 0 },
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vaxis.Key.right, vaxis.Key.kp_right => .{ .az = 0.1 * scale, .el = 0 },
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vaxis.Key.up, vaxis.Key.kp_up => .{ .az = 0, .el = 0.1 * scale },
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vaxis.Key.down, vaxis.Key.kp_down => .{ .az = 0 * scale, .el = -0.1 * scale },
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vaxis.Key.enter, vaxis.Key.kp_enter => .{ .az = -self.offsets.az, .el = -self.offsets.el },
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else => unreachable,
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};
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self.offsets.az += delta.az;
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self.offsets.el += delta.el;
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self.draw() catch {
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self.warn("draw failure", .{});
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};
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self.offsets.az += delta.az;
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self.offsets.el += delta.el;
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self.draw() catch {
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self.warn("draw failure", .{});
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};
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},
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'w', 'a', 's', 'd' => |wasd| {
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switch (wasd) {
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'w' => self.poll_interval += 100,
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'a' => if (self.command_freq > 2) {
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self.command_freq -= 1;
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},
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's' => if (self.poll_interval > 100) {
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self.poll_interval -= 100;
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},
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'd' => self.command_freq += 1,
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else => unreachable,
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}
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self.draw() catch {};
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},
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'l' => if (std.meta.eql(mods, .{ .ctrl = true })) {
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self.vx.queueRefresh();
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self.draw() catch {};
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},
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'c' => if (std.meta.eql(mods, .{ .ctrl = true })) {
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loop.stop();
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return .disarm;
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},
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'q' => if (std.meta.eql(mods, .{})) {
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loop.stop();
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return .disarm;
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},
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else => {},
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}
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},
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.winsize => |ws| {
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watcher.vx.resize(self.allocator, watcher.tty.anyWriter(), ws) catch
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