packeterrorrateestimator.cpp

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//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
//  All rights reserved.
//  
//  Redistribution and use in source and binary forms, with or without modification,
//  are permitted provided that the following conditions are met:
//  
//  1.  Redistributions of source code must retain the above copyright notice,
//      this list of conditions, and the following disclaimer.
//  
//  2.  Redistributions in binary form must reproduce the above copyright notice,
//      this list of conditions, and the following disclaimer in the documentation
//      and/or other materials provided with the distribution.
//  
//  3.  Neither the names of the copyright holders nor the names of their contributors
//      may be used to endorse or promote products derived from this software without
//      specific prior written permission.
//  
//  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
//  EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
//  MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
//  THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
//  SPECIAL, EXEMPLARY OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT 
//  OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
//  HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY OR
//  TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
//  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.THE LAWS OF THE NETHERLANDS 
//  SHALL BE EXCLUSIVELY APPLICABLE AND ANY DISPUTES SHALL BE FINALLY SETTLED UNDER THE RULES 
//  OF ARBITRATION OF THE INTERNATIONAL CHAMBER OF COMMERCE IN THE HAGUE BY ONE OR MORE 
//  ARBITRATORS APPOINTED IN ACCORDANCE WITH SAID RULES.
//  
 
 
//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
//  All rights reserved.
//  
//  Redistribution and use in source and binary forms, with or without modification,
//  are permitted provided that the following conditions are met:
//  
//  1.  Redistributions of source code must retain the above copyright notice,
//      this list of conditions, and the following disclaimer.
//  
//  2.  Redistributions in binary form must reproduce the above copyright notice,
//      this list of conditions, and the following disclaimer in the documentation
//      and/or other materials provided with the distribution.
//  
//  3.  Neither the names of the copyright holders nor the names of their contributors
//      may be used to endorse or promote products derived from this software without
//      specific prior written permission.
//  
//  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
//  EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
//  MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
//  THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
//  SPECIAL, EXEMPLARY OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT 
//  OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
//  HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY OR
//  TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
//  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.THE LAWS OF THE NETHERLANDS 
//  SHALL BE EXCLUSIVELY APPLICABLE AND ANY DISPUTES SHALL BE FINALLY SETTLED UNDER THE RULES 
//  OF ARBITRATION OF THE INTERNATIONAL CHAMBER OF COMMERCE IN THE HAGUE BY ONE OR MORE 
//  ARBITRATORS APPOINTED IN ACCORDANCE WITH SAID RULES.
//  
 
#include "packeterrorrateestimator.h"
#include "xscontrollerconfig.h"
#include <cmath>
 
#define PER_UPDATE_PERIOD_MILLISECONDS (10000)
#define INVALID_PACKET_RATE (-1)
 
PacketErrorRateEstimator::PacketErrorRateEstimator()
        : m_expectedPacketsPerSecond(INVALID_PACKET_RATE)
        , m_receivedPacketCount(0)
        , m_packetErrorRate(0)
        , m_previousUpdateTime(0)
{
}
 
PacketErrorRateEstimator::~PacketErrorRateEstimator()
{
}
 
void PacketErrorRateEstimator::setExpectedPacketsPerSecond(int16_t packetsPerSecond)
{
        xsens::Lock lock(&m_mutex);
        m_expectedPacketsPerSecond = packetsPerSecond;
}
 
void PacketErrorRateEstimator::packetReceived(void)
{
        xsens::Lock lock(&m_mutex);
        ++m_receivedPacketCount;
}
 
uint8_t PacketErrorRateEstimator::packetErrorRate(void) const
{
        xsens::Lock lock(&m_mutex);
        return m_packetErrorRate;
}
 
void PacketErrorRateEstimator::initFunction(void)
{
        xsNameThisThread("Packet Error Rate Estimator");
        m_previousUpdateTime = XsTimeStamp::nowMs();
}
 
int32_t PacketErrorRateEstimator::innerFunction(void)
{
        xsens::Lock lock(&m_mutex);
 
        const int64_t now = XsTimeStamp::nowMs();
 
        if (m_expectedPacketsPerSecond > 0)
        {
                const int64_t msSinceLastUpdate = now - m_previousUpdateTime;
 
                if (msSinceLastUpdate > 0)
                {
                        const float expectedPackets = (float)floor(m_expectedPacketsPerSecond * (msSinceLastUpdate / 1000));
                        float packetDeliveryRate = 100.0f * (m_receivedPacketCount / expectedPackets);
 
                        if (packetDeliveryRate > 100.0f)
                                packetDeliveryRate = 100.0f;
 
                        m_packetErrorRate = (uint8_t)(100 - (int)floor(packetDeliveryRate));
                        JLDEBUGG("Received " << m_receivedPacketCount << " packets in " << msSinceLastUpdate << " ms. Delivery rate: " << (int)(packetDeliveryRate) << "%. Error rate: " << (int)m_packetErrorRate << "%.");
                }
                else
                {
                        m_packetErrorRate = 0;
                        JLDEBUGG("Received " << m_receivedPacketCount << " packets in " << msSinceLastUpdate << " ms. Delivery rate unknown (100%). Error rate unknown (" << (int)m_packetErrorRate << "%).");
                }
        }
 
        m_receivedPacketCount = 0;
        m_previousUpdateTime = now;
 
        return PER_UPDATE_PERIOD_MILLISECONDS;
}