powerpods/goTool/cmd_ble_stream.go

package main

import (
	"flag"
	"fmt"
	"math"
	"sort"
	"time"

	pb "powerpod/gotool/pb"
	"google.golang.org/protobuf/proto"
)

func runBleStream(h hostConn, args []string) error {
	fs := flag.NewFlagSet("ble-stream", flag.ExitOnError)
	clientID := fs.Uint("client", 0, "slave client id (0 = all_clients)")
	periodMs := fs.Uint("period", 16, "BLE push period_ms (8–16)")
	count := fs.Int("count", 50, "number of BleStreamTick samples")
	tolMs := fs.Float64("tol", 2.0, "tolerance ms around period for window_ok")
	duration := fs.Float64("timeout", 15.0, "max seconds waiting for ticks")
	if err := fs.Parse(args); err != nil {
		return err
	}
	if *periodMs < 8 || *periodMs > 16 {
		return fmt.Errorf("--period must be 8..16")
	}
	if *count < 2 {
		return fmt.Errorf("--count must be >= 2")
	}

	sc, ok := h.(hostStreamConn)
	if !ok {
		return fmt.Errorf("ble-stream requires -ble (UART has no push ticks)")
	}

	req := &pb.AccelStreamRequest{
		Write:    true,
		Enable:   true,
		PeriodMs: uint32(*periodMs),
	}
	if *clientID == 0 {
		req.AllClients = true
	} else {
		req.ClientId = uint32(*clientID)
	}
	resp, err := hostAccelStream(h, req)
	if err != nil {
		return err
	}
	if !resp.GetSuccess() {
		return fmt.Errorf("accel stream enable failed")
	}
	fmt.Printf("accel stream on; period_ms=%d; collecting %d ticks…\n", *periodMs, *count)

	type sample struct {
		espUs uint64
		pcT  float64
	}
	samples := make([]sample, 0, *count)
	deadline := time.Now().Add(time.Duration(*duration * float64(time.Second)))

	for len(samples) < *count {
		remain := time.Until(deadline)
		if remain <= 0 {
			break
		}
		payload, err := sc.NextStreamTick(remain)
		if err != nil {
			break
		}
		pcT := time.Now().UnixMicro()
		var msg pb.UartMessage
		if err := proto.Unmarshal(payload[1:], &msg); err != nil {
			continue
		}
		tick := msg.GetBleStreamTick()
		if tick == nil {
			continue
		}
		samples = append(samples, sample{espUs: tick.GetEspTimestampUs(), pcT: float64(pcT)})
	}

	// Best-effort disable
	off := &pb.AccelStreamRequest{Write: true, Enable: false, AllClients: req.AllClients, ClientId: req.ClientId}
	_, _ = hostAccelStream(h, off)

	if len(samples) < 2 {
		return fmt.Errorf("need >=2 ticks, got %d (is stream running / DIP8=BLE?)", len(samples))
	}

	var dT, dR, extra []float64
	esp0 := samples[0].espUs
	pc0 := samples[0].pcT
	for i := 1; i < len(samples); i++ {
		dT = append(dT, float64(samples[i].espUs-samples[i-1].espUs)/1000.0)
		dR = append(dR, (samples[i].pcT-samples[i-1].pcT)/1000.0)
		relEsp := float64(samples[i].espUs-esp0) / 1000.0
		relPc := (samples[i].pcT - pc0) / 1000.0
		extra = append(extra, relPc-relEsp)
	}

	period := float64(*periodMs)
	outCount := 0
	for _, dt := range dT {
		if math.Abs(dt-period) > *tolMs {
			outCount++
		}
	}
	windowOK := outCount*2 <= len(dT) // majority inside tolerance

	fmt.Printf("received=%d/%d period_ms=%d tol=±%.1f ms\n", len(samples), *count, *periodMs, *tolMs)
	printStat("dT ESP inter-depart", dT)
	printStat("dR PC  inter-arrive", dR)
	printStat("extra vs first", extra)
	fmt.Printf("outside_tol=%d/%d  window_ok=%s\n", outCount, len(dT), map[bool]string{true: "yes", false: "no"}[windowOK])
	return nil
}

func printStat(name string, v []float64) {
	if len(v) == 0 {
		fmt.Printf("%s: (none)\n", name)
		return
	}
	s := append([]float64(nil), v...)
	sort.Float64s(s)
	fmt.Printf("%s: n=%d  min=%.3f  median=%.3f  mean=%.3f  max=%.3f  ms\n",
		name, len(s), s[0], percentile(s, 0.5), mean(s), s[len(s)-1])
}