log_cadence.h

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#pragma once
 
#include <stdbool.h>
#include <stdint.h>
 
#ifdef __cplusplus
extern "C" {
#endif

#define LOG_CADENCE_MODEL_MS     50u

#define LOG_CADENCE_MODEL_MAX_MS 1000u

typedef struct {
    uint32_t model_ms;  
    uint32_t seen_ms;   
    uint64_t run_ms;    
    uint32_t sent;      
    uint32_t lost;      
} log_cadence_t;
 
/*
 * Which run the log records.  A run is one arming of the bench, or one
 * switch-on of the supply's output while the bench is not armed; the bench
 * takes the log.  An armed run is LOG_RUN_MOTOR when MOTOR & ESC or ESC
 * STICK armed the bench and LOG_RUN_SERVO when SERVO did; the two write the
 * same rows to MOTORnnn.CSV and SERVOnnn.CSV, the supply run to
 * SUPPLnnn.CSV (log_name.h).
 */
typedef enum {
    LOG_RUN_NONE = 0,
    LOG_RUN_SERVO,
    LOG_RUN_SUPPLY,
    LOG_RUN_MOTOR,
} log_run_kind_t;

static inline bool log_run_armed(log_run_kind_t kind)
{
    return kind == LOG_RUN_SERVO || kind == LOG_RUN_MOTOR;
}

log_run_kind_t log_cadence_wanted(bool auto_logs, bool armed, bool motor,
                                  bool supply_on, log_run_kind_t now);

void log_cadence_init(log_cadence_t *c, uint32_t now_ms);

bool log_cadence_model_due(log_cadence_t *c, uint32_t now_ms, bool link_up,
                           float *step_s);

void log_cadence_run_start(log_cadence_t *c, uint32_t now_ms);

bool log_cadence_bench_run(bool bench_kind, bool servo_test);

bool log_cadence_row(log_cadence_t *c, uint32_t now_ms, bool new_sample,
                     bool bench_run, float *t_s);

unsigned log_cadence_rows(unsigned windows);

void log_cadence_posted(log_cadence_t *c, bool taken);

uint32_t log_cadence_sent(const log_cadence_t *c);

uint32_t log_cadence_lost(const log_cadence_t *c);
 
#ifdef __cplusplus
}
#endif