Thermal throttling +typos

photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java

@@ -41,6 +41,7 @@
 import org.photonvision.common.dataflow.events.OutgoingUIEvent;
 import org.photonvision.common.dataflow.websocket.UIPhotonConfiguration;
 import org.photonvision.common.hardware.HardwareManager;
+import org.photonvision.common.hardware.alerts.AlertGroups;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.LogLevel;
 import org.photonvision.common.logging.Logger;
@@ -66,9 +67,9 @@ public class NetworkTablesManager {
             new MultiSubscriber(ntInstance, new String[] {kRootTableName + "/" + kCoprocTableName + "/"});
 
     // Creating the alert up here since it should be persistent
-    private final Alert conflictAlert = new Alert("PhotonAlerts", "", AlertType.kWarning);
+    private final Alert conflictAlert = new Alert(AlertGroups.PHOTON_ALERTS, "", AlertType.kWarning);
 
-    private final Alert mismatchAlert = new Alert("PhotonAlerts", "", AlertType.kWarning);
+    private final Alert mismatchAlert = new Alert(AlertGroups.PHOTON_ALERTS, "", AlertType.kWarning);
 
     public boolean conflictingHostname = false;
     public String conflictingCameras = "";

photon-core/src/main/java/org/photonvision/common/hardware/alerts/AlertGroups.java

@@ -0,0 +1,25 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.hardware.alerts;
+
+/** Shared alert-group names for WPILib Alert instances. */
+public final class AlertGroups {
+    public static final String PHOTON_ALERTS = "PhotonAlerts";
+
+    private AlertGroups() {}
+}

photon-core/src/main/java/org/photonvision/common/hardware/metrics/SystemMonitor.java

@@ -20,6 +20,9 @@
 import edu.wpi.first.cscore.CameraServerJNI;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.ProtobufPublisher;
+import edu.wpi.first.wpilibj.Alert;
+import edu.wpi.first.wpilibj.Alert.AlertType;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import java.io.IOException;
 import java.nio.file.FileStore;
 import java.nio.file.Files;
@@ -32,6 +35,7 @@
 import org.photonvision.common.dataflow.events.OutgoingUIEvent;
 import org.photonvision.common.dataflow.networktables.NetworkTablesManager;
 import org.photonvision.common.hardware.Platform;
+import org.photonvision.common.hardware.alerts.AlertGroups;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.networking.NetworkUtils;
@@ -62,6 +66,9 @@ private record NetworkTraffic(double sentBitRate, double recvBitRate) {}
                     .getProtobufTopic(CameraServerJNI.getHostname(), DeviceMetrics.proto)
                     .publish();
 
+    private final Alert thermalThrottlingAlert =
+            new Alert(AlertGroups.PHOTON_ALERTS, "Thermal throttling detected!", AlertType.kWarning);
+
     private SystemInfo si;
     private CentralProcessor cpu;
     private OperatingSystem os;
@@ -140,11 +147,11 @@ protected SystemMonitor() {
     }
 
     /**
-     * Returns a comma-separated list of addtional thermal zone types that should be checked to get
+     * Returns a comma-separated list of additional thermal zone types that should be checked to get
      * the CPU temperature on Unix systems. The temperature will be reported for the first temperature
-     * zone with a type that mateches an item of this list. If the CPU temperature isn't being
-     * reported correctly for a coprocessor, override this method to return a string with type
-     * associated with the thermal zone for that comprocessor.
+     * zone with a type that matches an item of this list. If the CPU temperature isn't being reported
+     * correctly for a coprocessor, override this method to return a string with type associated with
+     * the thermal zone for that coprocessor.
      *
      * @return String containing a comma-separated list of thermal zone types for reading CPU
      *     temperature.
@@ -159,7 +166,7 @@ protected String getThermalZoneTypes() {
 
     /**
      * Starts the periodic system monitor that publishes performance metrics. The metrics are
-     * published every millisUpdateInerval seconds after a millisStartDelay startup delay. Calling
+     * published every millisUpdateInterval seconds after a millisStartDelay startup delay. Calling
      * this method when the monitor is running will stop it and restart it with the new delay and
      * update interval.
      *
@@ -210,6 +217,9 @@ private void publishMetrics() {
 
         metricPublisher.set(metrics);
 
+        thermalThrottlingAlert.set(this.isThermallyThrottling());
+        SmartDashboard.updateValues();
+
         if (writeMetricsToLog) {
             logMetrics(metrics);
         }
@@ -233,7 +243,7 @@ private void logMetrics(DeviceMetrics metrics) {
                 String.format("CPU Throttle: %s, ", metrics.cpuThr().isBlank() ? "N/A" : metrics.cpuThr()));
         sb.append(
                 String.format(
-                        "Data sent: %.0f Kbps, Data recieved: %.0f Kbps",
+                        "Data sent: %.0f Kbps, Data received: %.0f Kbps",
                         metrics.sentBitRate() / 1000, metrics.recvBitRate() / 1000));
         logger.debug(sb.toString());
     }
@@ -446,6 +456,16 @@ public String getCpuThrottleReason() {
         return "";
     }
 
+    /**
+     * Returns true if the device is currently experiencing thermal throttling. Platforms that support
+     * thermal throttling detection will override this method.
+     *
+     * @return true if thermally throttling, false otherwise.
+     */
+    public boolean isThermallyThrottling() {
+        return false;
+    }
+
     /**
      * Returns the total GPU memory in MiB.
      *
@@ -475,7 +495,7 @@ public String getIpAddress() {
     }
 
     /**
-     * Returns a NetworkTraffic instance containing the average sent and recieved network traffic
+     * Returns a NetworkTraffic instance containing the average sent and received network traffic
      * since the last time this was called.
      *
      * @return NetworkTraffic instance with data in bits/second. The traffic values will be -1 if the
@@ -537,7 +557,7 @@ private void testSM() {
                         () -> {
                             var nt = getNetworkTraffic();
                             return String.format(
-                                    "Data sent: %.0f Kbps, Data recieved: %.0f Kbps",
+                                    "Data sent: %.0f Kbps, Data received: %.0f Kbps",
                                     nt.sentBitRate() / 1000, nt.recvBitRate() / 1000);
                         });
 

photon-core/src/main/java/org/photonvision/common/hardware/metrics/SystemMonitorRaspberryPi.java

@@ -25,13 +25,7 @@ public class SystemMonitorRaspberryPi extends SystemMonitor {
 
     @Override
     public String getCpuThrottleReason() {
-        int state = 0;
-        String output = vcgencmd("get_throttled");
-        try {
-            state = Integer.decode(output);
-        } catch (NumberFormatException e) {
-            logger.warn("Could not parse return value: " + output);
-        }
+        int state = getThrottleState();
         if ((state & 0x01) != 0) {
             return "LOW VOLTAGE";
         } else if ((state & 0x08) != 0) {
@@ -44,6 +38,22 @@ public String getCpuThrottleReason() {
         return "None";
     }
 
+    @Override
+    public boolean isThermallyThrottling() {
+        return (getThrottleState() & 0x08) != 0;
+    }
+
+    private int getThrottleState() {
+        int state = 0;
+        String output = vcgencmd("get_throttled");
+        try {
+            state = Integer.decode(output);
+        } catch (NumberFormatException e) {
+            logger.warn("Could not parse return value: " + output);
+        }
+        return state;
+    }
+
     @Override
     public double getGpuMem() {
         String output = vcgencmd("get_mem gpu");

photon-lib/src/main/java/org/photonvision/AlertGroups.java

@@ -0,0 +1,32 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) PhotonVision
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+package org.photonvision;
+
+/** Shared alert-group names for WPILib Alert instances. */
+public final class AlertGroups {
+    public static final String PHOTON_ALERTS = "PhotonAlerts";
+
+    private AlertGroups() {}
+}

photon-lib/src/main/java/org/photonvision/PhotonCamera.java

@@ -59,7 +59,6 @@
 public class PhotonCamera implements AutoCloseable {
     private static int InstanceCount = 1;
     public static final String kTableName = "photonvision";
-    private static final String PHOTON_ALERT_GROUP = "PhotonAlerts";
 
     private final NetworkTable cameraTable;
     PacketSubscriber<PhotonPipelineResult> resultSubscriber;
@@ -138,8 +137,10 @@ public PhotonCamera(NetworkTableInstance instance, String cameraName) {
         name = cameraName;
         disconnectAlert =
                 new Alert(
-                        PHOTON_ALERT_GROUP, "PhotonCamera '" + name + "' is disconnected.", AlertType.kWarning);
-        timesyncAlert = new Alert(PHOTON_ALERT_GROUP, "", AlertType.kWarning);
+                        AlertGroups.PHOTON_ALERTS,
+                        "PhotonCamera '" + name + "' is disconnected.",
+                        AlertType.kWarning);
+        timesyncAlert = new Alert(AlertGroups.PHOTON_ALERTS, "", AlertType.kWarning);
         rootPhotonTable = instance.getTable(kTableName);
         this.cameraTable = rootPhotonTable.getSubTable(cameraName);
         path = cameraTable.getPath();

photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp

@@ -39,6 +39,7 @@
 #include <wpi/json.h>
 
 #include "PhotonVersion.h"
+#include "photon/AlertGroups.h"
 #include "photon/dataflow/structures/Packet.h"
 
 static constexpr units::second_t WARN_DEBOUNCE_SEC = 5_s;
@@ -109,7 +110,6 @@ namespace photon {
 
 constexpr const units::second_t VERSION_CHECK_INTERVAL = 5_s;
 static const std::vector<std::string_view> PHOTON_PREFIX = {"/photonvision/"};
-static const std::string PHOTON_ALERT_GROUP{"PhotonAlerts"};
 bool PhotonCamera::VERSION_CHECK_ENABLED = true;
 
 void PhotonCamera::SetVersionCheckEnabled(bool enabled) {
@@ -160,11 +160,12 @@ PhotonCamera::PhotonCamera(nt::NetworkTableInstance instance,
       topicNameSubscriber(instance, PHOTON_PREFIX, {.topicsOnly = true}),
       path(rootTable->GetPath()),
       cameraName(cameraName),
-      disconnectAlert(PHOTON_ALERT_GROUP,
+      disconnectAlert(AlertGroups::kPhotonAlerts,
                       std::string{"PhotonCamera '"} + std::string{cameraName} +
                           "' is disconnected.",
                       frc::Alert::AlertType::kWarning),
-      timesyncAlert(PHOTON_ALERT_GROUP, "", frc::Alert::AlertType::kWarning) {
+      timesyncAlert(AlertGroups::kPhotonAlerts, "",
+                    frc::Alert::AlertType::kWarning) {
   verifyDependencies();
   HAL_Report(HALUsageReporting::kResourceType_PhotonCamera, InstanceCount);
   InstanceCount++;

photon-lib/src/main/native/include/photon/AlertGroups.h

@@ -0,0 +1,33 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) PhotonVision
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#pragma once
+
+#include <string_view>
+
+namespace photon::AlertGroups {
+
+inline constexpr std::string_view kPhotonAlerts = "PhotonAlerts";
+
+}  // namespace photon::AlertGroups

photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java

@@ -310,6 +310,7 @@ public void testAlerts() throws InterruptedException {
         // GIVEN a fresh NT instance
 
         var cameraName = "foobar";
+        var warningAlertKey = AlertGroups.PHOTON_ALERTS + "/warnings";
 
         // AND a photoncamera that is disconnected
         var camera = new PhotonCamera(inst, cameraName);
@@ -327,7 +328,7 @@ public void testAlerts() throws InterruptedException {
 
             // The alert state will be set (hard-coded here)
             assertTrue(
-                    Arrays.stream(SmartDashboard.getStringArray("PhotonAlerts/warnings", new String[0]))
+                    Arrays.stream(SmartDashboard.getStringArray(warningAlertKey, new String[0]))
                             .anyMatch(it -> it.equals(disconnectedCameraString)));
 
             Thread.sleep(20);
@@ -356,11 +357,11 @@ public void testAlerts() throws InterruptedException {
 
                 // THEN the camera isn't disconnected
                 assertTrue(
-                        Arrays.stream(SmartDashboard.getStringArray("PhotonAlerts/warnings", new String[0]))
+                        Arrays.stream(SmartDashboard.getStringArray(warningAlertKey, new String[0]))
                                 .noneMatch(it -> it.equals(disconnectedCameraString)));
                 // AND the alert string looks like a timesync warning
                 assertTrue(
-                        Arrays.stream(SmartDashboard.getStringArray("PhotonAlerts/warnings", new String[0]))
+                        Arrays.stream(SmartDashboard.getStringArray(warningAlertKey, new String[0]))
                                         .filter(it -> it.contains("is not connected to the TimeSyncServer"))
                                         .count()
                                 == 1);

photon-lib/src/test/native/cpp/PhotonCameraTest.cpp

@@ -32,6 +32,7 @@
 #include <net/TimeSyncClient.h>
 #include <net/TimeSyncServer.h>
 #include <networktables/NetworkTableInstance.h>
+#include <photon/AlertGroups.h>
 #include <photon/PhotonCamera.h>
 #include <photon/simulation/PhotonCameraSim.h>
 
@@ -61,6 +62,8 @@ TEST(TimeSyncProtocolTest, Smoketest) {
 
 TEST(PhotonCameraTest, Alerts) {
   using frc::SmartDashboard;
+  const std::string warningsAlertKey =
+      std::string{photon::AlertGroups::kPhotonAlerts} + "/warnings";
 
   // GIVEN a local-only NT instance
   auto inst = nt::NetworkTableInstance::GetDefault();
@@ -86,7 +89,7 @@ TEST(PhotonCameraTest, Alerts) {
     SmartDashboard::UpdateValues();
 
     // The alert state will be set (hard-coded here)
-    auto alerts = SmartDashboard::GetStringArray("PhotonAlerts/warnings", {});
+    auto alerts = SmartDashboard::GetStringArray(warningsAlertKey, {});
     EXPECT_TRUE(
         std::any_of(alerts.begin(), alerts.end(),
                     [&disconnectedCameraString](const std::string& alert) {
@@ -113,7 +116,7 @@ TEST(PhotonCameraTest, Alerts) {
     SmartDashboard::UpdateValues();
 
     // THEN the camera isn't disconnected
-    auto alerts = SmartDashboard::GetStringArray("PhotonAlerts/warnings", {});
+    auto alerts = SmartDashboard::GetStringArray(warningsAlertKey, {});
     fmt::println("{}:{}: saw alerts: {}", __FILE__, __LINE__, alerts);
     EXPECT_TRUE(
         std::none_of(alerts.begin(), alerts.end(),