When to tell my daughter I am autistic?

Hello to everyone, 

If something similar has been discussed on here previously I am sorry but I can't find anything similar. I am autistic mother of 6 years old girl. She is social, clever and happy little girl who likes to play with other children very much. 

I struggle with social aspects of parenting. I don't want her to miss out due to my disability but sometimes I just can't do things with her. She then gets upset and frustrated. 

My question is: when should I tell my daughter that I am autistic? And how? How can I explain to her that I struggle a lot with talking, meeting people and so on? Please if someone is or has been in similar situation may I ask for advice? 

I sometimes just want to tell her that I cannot do some things with her because I am autistic but I don't want her to worry about it and I don't know if it's appropriate for her to know that at her age? 

Any advice would be very much appreciated. 

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