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RTT measurements are now reported per-robot #3422

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RTT measurements are now reported per-robot #3422

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5e95e5c
wip
AmyKawa Dec 1, 2024
df4cb5a
add the rest of the changes
AmyKawa Jan 18, 2025
ac34e70
Removed my personal comments (weren't necessary)
AmyKawa Jan 21, 2025
f15f59d
[pre-commit.ci lite] apply automatic fixes
pre-commit-ci-lite[bot] Jan 21, 2025
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1 change: 1 addition & 0 deletions src/proto/robot_statistic.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -3,4 +3,5 @@ syntax = "proto3";
message RobotStatistic
{
double round_trip_time_seconds = 1;
uint32 robot_id = 2;
}
8 changes: 5 additions & 3 deletions src/software/thunderscope/robot_communication.py
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Original file line number Diff line number Diff line change
Expand Up @@ -337,11 +337,13 @@ def __receive_robot_status(self, robot_status: Message) -> None:
round_trip_time_seconds = time.time() - (
robot_status.adjusted_time_sent.epoch_timestamp_seconds
)
self.__forward_to_proto_unix_io(
RobotStatistic,
RobotStatistic(round_trip_time_seconds=round_trip_time_seconds),
robot_statistic = RobotStatistic(
robot_id=robot_status.robot_id,
round_trip_time_seconds=round_trip_time_seconds,
)

self.__forward_to_proto_unix_io(RobotStatus, robot_status)
self.__forward_to_proto_unix_io(RobotStatistic, robot_statistic)

def __exit__(self, type, value, traceback) -> None:
"""Exit RobotCommunication context manager
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28 changes: 23 additions & 5 deletions src/software/thunderscope/robot_diagnostics/robot_view.py
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Expand Up @@ -70,9 +70,13 @@ def update(
:param robot_status: the new message data to update the widget with
:param round_trip_time: robot statistic proto to update with new metrics
"""
self.robot_info.update(robot_status, round_trip_time)
if self.robot_status:
self.robot_status.update(robot_status)
if robot_status is not None:
self.robot_info.update(robot_status, round_trip_time)
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nit: maybe we should rename round_trip_time to robot_statistic since it contains that new ID field now

if self.robot_status:
self.robot_status.update(robot_status)

if round_trip_time is not None:
self.robot_info.update_rtt(round_trip_time)


class RobotView(QScrollArea):
Expand Down Expand Up @@ -125,7 +129,21 @@ def refresh(self) -> None:
block=False, return_cached=False
)

if robot_status is not None and round_trip_time is not None:
if (
robot_status is not None
and round_trip_time is not None
and robot_status.robot_id == round_trip_time.robot_id
): # if both pieces of data are available
self.robot_view_widgets[robot_status.robot_id].update(
robot_status, round_trip_time
robot_status=robot_status, round_trip_time=round_trip_time
)
else:
if robot_status is not None:
self.robot_view_widgets[robot_status.robot_id].update(
robot_status,
round_trip_time=None,
)
if round_trip_time is not None:
self.robot_view_widgets[round_trip_time.robot_id].update(
robot_status=None, round_trip_time=round_trip_time
)