Thermal throttling +typos

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

@@ -20,6 +20,8 @@
 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 java.io.IOException;
 import java.nio.file.FileStore;
 import java.nio.file.Files;
@@ -62,6 +64,9 @@ private record NetworkTraffic(double sentBitRate, double recvBitRate) {}
                     .getProtobufTopic(CameraServerJNI.getHostname(), DeviceMetrics.proto)
                     .publish();
 
+    private final Alert thermalThrottlingAlert =
+            new Alert("PhotonAlerts", "Thermal throttling detected!", AlertType.kWarning);
+
     private SystemInfo si;
     private CentralProcessor cpu;
     private OperatingSystem os;
@@ -140,11 +145,11 @@ 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
+     * 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 comprocessor.
+     * 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 +164,7 @@ 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 +215,8 @@ private void publishMetrics() {
 
         metricPublisher.set(metrics);
 
+        thermalThrottlingAlert.set(this.isThermallyThrottling());
+
         if (writeMetricsToLog) {
             logMetrics(metrics);
         }
@@ -233,7 +240,7 @@ 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());
     }
@@ -446,10 +453,20 @@ 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.
      *
-     * @return The total GPU memory in MiB, or -1.0 if not avaialable on this platform.
+     * @return The total GPU memory in MiB, or -1.0 if not available on this platform.
      */
     public double getGpuMem() {
         return -1.0;
@@ -475,7 +492,7 @@ 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 +554,7 @@ 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);
                         });
 
@@ -562,4 +579,4 @@ private double timeIt(StringBuilder sb, Supplier<String> source) {
         sb.append(String.format(" %7.3f ms >> %s\n", delta, resp));
         return delta;
     }
-}
+}

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");