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load_mon improve cpuload calculation and cleanup (#9852)

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This commit is contained in:
Daniel Agar
2018-12-21 22:27:58 -08:00
committed by GitHub
parent 63651da309
commit 49be26b6cf
1 changed files with 55 additions and 72 deletions
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127
src/modules/load_mon/load_mon.cpp
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@@ -39,24 +39,17 @@
* @author Andreas Antener <andreas@uaventure.com>
*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <px4_config.h>
#include <px4_module.h>
#include <px4_workqueue.h>
#include <px4_defines.h>
#include <drivers/drv_hrt.h>
#include <lib/perf/perf_counter.h>
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_module.h>
#include <px4_module_params.h>
#include <px4_workqueue.h>
#include <systemlib/cpuload.h>
#include <perf/perf_counter.h>
#include <uORB/uORB.h>
#include <uORB/topics/cpuload.h>
#include <uORB/topics/task_stack_info.h>
#include <uORB/uORB.h>
#if defined(__PX4_NUTTX) && !defined(CONFIG_SCHED_INSTRUMENTATION)
# error load_mon support requires CONFIG_SCHED_INSTRUMENTATION
@@ -75,7 +68,7 @@ extern "C" __EXPORT int load_mon_main(int argc, char *argv[]);
// Run it at 1 Hz.
const unsigned LOAD_MON_INTERVAL_US = 1000000;
class LoadMon : public ModuleBase<LoadMon>
class LoadMon : public ModuleBase<LoadMon>, public ModuleParams
{
public:
LoadMon();
@@ -103,7 +96,7 @@ private:
void _cycle();
/** Do a calculation of the CPU load and publish it. */
void _compute();
void _cpuload();
/** Calculate the memory usage */
float _ram_used();
@@ -112,46 +105,28 @@ private:
/* Calculate stack usage */
void _stack_usage();
struct task_stack_info_s _task_stack_info;
int _stack_task_index;
orb_advert_t _task_stack_info_pub;
int _stack_task_index{0};
orb_advert_t _task_stack_info_pub{nullptr};
#endif
struct work_s _work;
DEFINE_PARAMETERS(
(ParamBool<px4::params::SYS_STCK_EN>) _stack_check_enabled
)
work_s _work{};
orb_advert_t _cpuload_pub{nullptr};
hrt_abstime _last_idle_time{0};
hrt_abstime _last_idle_time_sample{0};
struct cpuload_s _cpuload;
orb_advert_t _cpuload_pub;
hrt_abstime _last_idle_time;
perf_counter_t _stack_perf;
bool _stack_check_enabled;
};
LoadMon::LoadMon() :
#ifdef __PX4_NUTTX
_task_stack_info {},
_stack_task_index(0),
_task_stack_info_pub(nullptr),
#endif
_work {},
_cpuload{},
_cpuload_pub(nullptr),
_last_idle_time(0),
_stack_perf(perf_alloc(PC_ELAPSED, "stack_check")),
_stack_check_enabled(false)
ModuleParams(nullptr),
_stack_perf(perf_alloc(PC_ELAPSED, "stack_check"))
{
// Enable stack checking by param
param_t param_stack_check = param_find("SYS_STCK_EN");
if (param_stack_check != PARAM_INVALID) {
int ret_val = 0;
param_get(param_stack_check, &ret_val);
_stack_check_enabled = ret_val > 0;
// Only be verbose if enabled
if (_stack_check_enabled) {
PX4_INFO("stack check enabled");
}
}
}
LoadMon::~LoadMon()
@@ -191,7 +166,15 @@ LoadMon::cycle_trampoline(void *arg)
void LoadMon::_cycle()
{
_compute();
_cpuload();
#ifdef __PX4_NUTTX
if (_stack_check_enabled.get()) {
_stack_usage();
}
#endif
if (!should_exit()) {
work_queue(LPWORK, &_work, (worker_t)&LoadMon::cycle_trampoline, this,
@@ -202,7 +185,7 @@ void LoadMon::_cycle()
}
}
void LoadMon::_compute()
void LoadMon::_cpuload()
{
if (_last_idle_time == 0) {
/* Just get the time in the first iteration */
@@ -211,26 +194,23 @@ void LoadMon::_compute()
}
/* compute system load */
const hrt_abstime interval_idletime = system_load.tasks[0].total_runtime - _last_idle_time;
_last_idle_time = system_load.tasks[0].total_runtime;
const hrt_abstime total_runtime = system_load.tasks[0].total_runtime;
const hrt_abstime interval = hrt_elapsed_time(&_last_idle_time_sample);
const hrt_abstime interval_idletime = total_runtime - _last_idle_time;
_cpuload.timestamp = hrt_absolute_time();
_cpuload.load = 1.0f - (float)interval_idletime / (float)LOAD_MON_INTERVAL_US;
_cpuload.ram_usage = _ram_used();
_last_idle_time = total_runtime;
_last_idle_time_sample = hrt_absolute_time();
#ifdef __PX4_NUTTX
if (_stack_check_enabled) {
_stack_usage();
}
#endif
cpuload_s cpuload = {};
cpuload.load = 1.0f - (float)interval_idletime / (float)interval;
cpuload.ram_usage = _ram_used();
cpuload.timestamp = hrt_absolute_time();
if (_cpuload_pub == nullptr) {
_cpuload_pub = orb_advertise(ORB_ID(cpuload), &_cpuload);
_cpuload_pub = orb_advertise(ORB_ID(cpuload), &cpuload);
} else {
orb_publish(ORB_ID(cpuload), _cpuload_pub, &_cpuload);
orb_publish(ORB_ID(cpuload), _cpuload_pub, &cpuload);
}
}
@@ -243,7 +223,7 @@ float LoadMon::_ram_used()
mem = mallinfo();
#else
(void)mallinfo(&mem);
#endif
#endif /* CONFIG_CAN_PASS_STRUCTS */
// mem.arena: total ram (bytes)
// mem.uordblks: used (bytes)
@@ -251,6 +231,7 @@ float LoadMon::_ram_used()
// mem.mxordblk: largest remaining block (bytes)
return (float)mem.uordblks / mem.arena;
#else
return 0.0f;
#endif
@@ -273,11 +254,13 @@ void LoadMon::_stack_usage()
perf_begin(_stack_perf);
sched_lock();
task_stack_info_s task_stack_info = {};
if (system_load.tasks[task_index].valid && system_load.tasks[task_index].tcb->pid > 0) {
stack_free = up_check_tcbstack_remain(system_load.tasks[task_index].tcb);
strncpy((char *)_task_stack_info.task_name, system_load.tasks[task_index].tcb->name,
strncpy((char *)task_stack_info.task_name, system_load.tasks[task_index].tcb->name,
task_stack_info_s::MAX_REPORT_TASK_NAME_LEN);
#if CONFIG_NFILE_DESCRIPTORS > 0
@@ -305,21 +288,21 @@ void LoadMon::_stack_usage()
if (checked_task) {
_task_stack_info.stack_free = stack_free;
_task_stack_info.timestamp = hrt_absolute_time();
task_stack_info.stack_free = stack_free;
task_stack_info.timestamp = hrt_absolute_time();
if (_task_stack_info_pub == nullptr) {
_task_stack_info_pub = orb_advertise_queue(ORB_ID(task_stack_info), &_task_stack_info, num_tasks_per_cycle);
_task_stack_info_pub = orb_advertise_queue(ORB_ID(task_stack_info), &task_stack_info, num_tasks_per_cycle);
} else {
orb_publish(ORB_ID(task_stack_info), _task_stack_info_pub, &_task_stack_info);
orb_publish(ORB_ID(task_stack_info), _task_stack_info_pub, &task_stack_info);
}
/*
* Found task low on stack, report and exit. Continue here in next cycle.
*/
if (stack_free < STACK_LOW_WARNING_THRESHOLD) {
PX4_WARN("%s low on stack! (%i bytes left)", _task_stack_info.task_name, stack_free);
PX4_WARN("%s low on stack! (%i bytes left)", task_stack_info.task_name, stack_free);
break;
}
@@ -327,7 +310,7 @@ void LoadMon::_stack_usage()
* Found task low on file descriptors, report and exit. Continue here in next cycle.
*/
if (fds_free < FDS_LOW_WARNING_THRESHOLD) {
PX4_WARN("%s low on FDs! (%i FDs left)", _task_stack_info.task_name, fds_free);
PX4_WARN("%s low on FDs! (%i FDs left)", task_stack_info.task_name, fds_free);
break;
}