adaptive intervals

js/gui.js

@@ -77,6 +77,7 @@ GUI_control.prototype.tab_switch_cleanup = function (callback) {
     MSP.callbacks_cleanup(); // we don't care about any old data that might or might not arrive
 
     helper.interval.killAll(['global_data_refresh', 'msp-load-update']);
+    helper.mspBalancedInterval.flush();
 
     if (this.active_tab) {
         TABS[this.active_tab].cleanup(callback);

js/msp_balanced_interval.js

@@ -0,0 +1,72 @@
+'use strict';
+
+var helper = helper || {};
+
+helper.mspBalancedInterval = (function (mspQueue, intervalHandler) {
+
+    var publicScope = {},
+        privateScope = {};
+
+    /**
+     * How often balancing should be executed [Hz]
+     * @type {number}
+     */
+    privateScope.balancingFrequency = 0.5;
+
+    privateScope.intervals = [];
+
+    /**
+     *
+     * @param {string} name
+     * @param {number} requestedInterval
+     * @param {number} messagesInInterval
+     * @param {function} code
+     */
+    publicScope.add = function (name, requestedInterval, messagesInInterval, code) {
+        privateScope.intervals.push({
+            name: name,
+            requestedInterval: requestedInterval,
+            messagesInInterval: messagesInInterval,
+            code: code
+        });
+
+        intervalHandler.add(name, code, mspQueue.getIntervalPrediction(requestedInterval, messagesInInterval));
+    };
+
+    /**
+     * Periodically executed balancing handler
+     */
+    publicScope.balancer = function () {
+
+        var interval;
+
+        for (var i in privateScope.intervals) {
+            if (privateScope.intervals.hasOwnProperty(i)) {
+                interval = privateScope.intervals[i];
+
+                intervalHandler.remove(interval.name);
+                intervalHandler.add(
+                    interval.name,
+                    interval.code,
+                    mspQueue.getIntervalPrediction(
+                        interval.requestedInterval,
+                        interval.messagesInInterval
+                    )
+                );
+            }
+        }
+
+    };
+
+    /**
+     * Real interval cleaning happens win helper.interval.killAll method
+     * both methods have to be executed
+     */
+    publicScope.flush = function () {
+        privateScope.intervals = [];
+    };
+
+    setInterval(publicScope.balancer, Math.round(1000 / privateScope.balancingFrequency));
+
+    return publicScope;
+})(helper.mspQueue, helper.interval);

js/serial_backend.js

@@ -116,6 +116,8 @@ $(document).ready(function () {
 
                     helper.timeout.killAll();
                     helper.interval.killAll(['global_data_refresh', 'msp-load-update']);
+                    helper.mspBalancedInterval.flush();
+
                     GUI.tab_switch_cleanup();
                     GUI.tab_switch_in_progress = false;
                     CONFIGURATOR.connectionValid = false;

js/serial_queue.js

@@ -249,14 +249,14 @@ helper.mspQueue = (function (serial, MSP) {
     };
 
     /**
-     * This method return periodic for polling interval that should populate queue in 75% or less
+     * This method return periodic for polling interval that should populate queue in 80% or less
      * @param {number} requestedInterval
      * @param {number} messagesInInterval
      * @returns {number}
      */
     publicScope.getIntervalPrediction = function (requestedInterval, messagesInInterval) {
         var requestedRate = (1000 / requestedInterval) * messagesInInterval,
-            availableRate = (1000 / publicScope.getRoundtrip()) * 0.75;
+            availableRate = (1000 / publicScope.getRoundtrip()) * 0.8;
 
         if (requestedRate < availableRate) {
             return requestedInterval;

main.html

@@ -97,6 +97,7 @@
     <script type="text/javascript" src="./js/eventFrequencyAnalyzer.js"></script>
     <script type="text/javascript" src="./js/periodicStatusUpdater.js"></script>
     <script type="text/javascript" src="./js/serial_queue.js"></script>
+    <script type="text/javascript" src="./js/msp_balanced_interval.js"></script>
     <title></title>
 </head>
 <body>

tabs/adjustments.js

@@ -274,7 +274,7 @@ TABS.adjustments.initialize = function (callback) {
         update_ui();
 
         // enable data pulling
-        helper.interval.add('aux_data_pull', get_rc_data, helper.mspQueue.getIntervalPrediction(50, 1));
+        helper.mspBalancedInterval.add('aux_data_pull', 50, 1, get_rc_data);
 
         GUI.content_ready(callback);
     }

tabs/auxiliary.js

@@ -293,7 +293,7 @@ TABS.auxiliary.initialize = function (callback) {
         update_ui();
 
         // enable data pulling
-        helper.interval.add('aux_data_pull', get_rc_data, helper.mspQueue.getIntervalPrediction(50, 1));
+        helper.mspBalancedInterval.add('aux_data_pull', 50, 1, get_rc_data);
 
         GUI.content_ready(callback);
     }

tabs/gps.js

@@ -103,7 +103,7 @@ TABS.gps.initialize = function (callback) {
          * enable data pulling
          * GPS is usually refreshed at 5Hz, there is no reason to pull it much more often, really...
          */
-        helper.interval.add('gps_pull', function gps_update() {
+        helper.mspBalancedInterval.add('gps_pull', 200, 3, function gps_update() {
             // avoid usage of the GPS commands until a GPS sensor is detected for targets that are compiled without GPS support.
             if (!have_sensor(CONFIG.activeSensors, 'gps')) {
                 //return;
@@ -114,7 +114,7 @@ TABS.gps.initialize = function (callback) {
             }
 
             get_raw_gps_data();
-        }, helper.mspQueue.getIntervalPrediction(200, 3), true);
+        });
 
         //check for internet connection on load
         if (navigator.onLine) {

tabs/logging.js

@@ -88,6 +88,7 @@ TABS.logging.initialize = function (callback) {
                         }
                     } else {
                         helper.interval.killAll(['global_data_refresh', 'msp-load-update']);
+                        helper.mspBalancedInterval.flush();
 
                         $('.speed').prop('disabled', false);
                         $(this).text(chrome.i18n.getMessage('loggingStart'));

tabs/motors.js

@@ -236,6 +236,7 @@ TABS.motors.initialize = function (callback) {
 
             // timer initialization
             helper.interval.killAll(['motor_and_status_pull', 'global_data_refresh', 'msp-load-update']);
+            helper.mspBalancedInterval.flush();
 
             helper.interval.add('IMU_pull', function imu_data_pull() {
 

tabs/receiver.js

@@ -460,7 +460,7 @@ TABS.receiver.initialize = function (callback) {
             samples++;
         }
 
-        helper.interval.add('receiver_pull', get_rc_data, helper.mspQueue.getIntervalPrediction(35, 1), true);
+        helper.mspBalancedInterval.add('receiver_pull', 35, 1, get_rc_data);
 
         GUI.content_ready(callback);
     }

tabs/setup.js

@@ -179,8 +179,8 @@ TABS.setup.initialize = function (callback) {
             });
         }
 
-        helper.interval.add('setup_data_pull_fast', get_fast_data, helper.mspQueue.getIntervalPrediction(40, 1), true); // 25 fps
+        helper.mspBalancedInterval.add('setup_data_pull_fast', 40, 1, get_fast_data);
-        helper.interval.add('setup_data_pull_slow', get_slow_data, helper.mspQueue.getIntervalPrediction(250, 1), true); // 4 fps
+        helper.mspBalancedInterval.add('setup_data_pull_slow', 250, 1, get_slow_data);
 
         helper.interval.add('gui_analog_update', function () {
                 bat_voltage_e.text(chrome.i18n.getMessage('initialSetupBatteryValue', [ANALOG.voltage]));