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NuttX cpuload monitoring optimization

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- Nuttx only process all suspend & resume scheduling notes when top is running, otherwise only track IDLE
 - convert cpuload and print load to c++
 - delete unused fields from print_load struct
 - update hrt_store_absolute_time (previous unused)
This commit is contained in:
Daniel Agar
2020-09-05 14:35:50 -04:00
committed by GitHub
parent a9798454cd
commit 023f6d3983
25 changed files with 339 additions and 240 deletions
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29
src/modules/logger/logger.cpp
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@@ -53,6 +53,7 @@
#include <drivers/drv_hrt.h>
#include <mathlib/math/Limits.hpp>
#include <px4_platform/cpuload.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/posix.h>
@@ -1225,6 +1226,11 @@ void Logger::start_log_file(LogType type)
return;
}
if (type == LogType::Full) {
// initialize cpu load as early as possible to get more data
initialize_load_output(PrintLoadReason::Preflight);
}
PX4_INFO("Start file log (type: %s)", log_type_str(type));
char file_name[LOG_DIR_LEN] = "";
@@ -1260,8 +1266,6 @@ void Logger::start_log_file(LogType type)
if (type == LogType::Full) {
/* reset performance counters to get in-flight min and max values in post flight log */
perf_reset_all();
initialize_load_output(PrintLoadReason::Preflight);
}
_statistics[(int)type].start_time_file = hrt_absolute_time();
@@ -1289,6 +1293,9 @@ void Logger::start_log_mavlink()
return;
}
// initialize cpu load as early as possible to get more data
initialize_load_output(PrintLoadReason::Preflight);
PX4_INFO("Start mavlink log");
_writer.start_log_mavlink();
@@ -1304,8 +1311,6 @@ void Logger::start_log_mavlink()
_writer.set_need_reliable_transfer(false);
_writer.unselect_write_backend();
_writer.notify();
initialize_load_output(PrintLoadReason::Preflight);
}
void Logger::stop_log_mavlink()
@@ -1388,16 +1393,8 @@ void Logger::print_load_callback(void *user)
void Logger::initialize_load_output(PrintLoadReason reason)
{
perf_callback_data_t callback_data;
callback_data.logger = this;
callback_data.counter = 0;
callback_data.buffer = nullptr;
char buffer[140];
hrt_abstime curr_time = hrt_absolute_time();
init_print_load_s(curr_time, &_load);
// this will not yet print anything
print_load_buffer(curr_time, buffer, sizeof(buffer), print_load_callback, &callback_data, &_load);
_next_load_print = curr_time + 1000000;
init_print_load(&_load);
_next_load_print = hrt_absolute_time() + 1_s;
_print_load_reason = reason;
}
@@ -1412,11 +1409,11 @@ void Logger::write_load_output()
callback_data.logger = this;
callback_data.counter = 0;
callback_data.buffer = buffer;
hrt_abstime curr_time = hrt_absolute_time();
_writer.set_need_reliable_transfer(true);
// TODO: maybe we should restrict the output to a selected backend (eg. when file logging is running
// and mavlink log is started, this will be added to the file as well)
print_load_buffer(curr_time, buffer, sizeof(buffer), print_load_callback, &callback_data, &_load);
print_load_buffer(buffer, sizeof(buffer), print_load_callback, &callback_data, &_load);
cpuload_monitor_stop();
_writer.set_need_reliable_transfer(false);
}