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Load monitor: lock scheduler for stack check and added performance counter for stack checking

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This commit is contained in:
Andreas Antener
2016-12-04 18:27:44 +01:00
committed by Lorenz Meier
parent dda0de09dd
commit a0cf938ced
1 changed files with 16 additions and 1 deletions
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17
src/modules/load_mon/load_mon.cpp
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@@ -53,6 +53,7 @@
#include <systemlib/systemlib.h>
#include <systemlib/err.h>
#include <systemlib/cpuload.h>
#include <systemlib/perf_counter.h>
#include <uORB/uORB.h>
#include <uORB/topics/cpuload.h>
@@ -88,6 +89,8 @@ public:
bool isRunning() { return _taskIsRunning; }
void printStatus();
private:
/* Do a compute and schedule the next cycle. */
void _cycle();
@@ -114,6 +117,7 @@ private:
struct cpuload_s _cpuload;
orb_advert_t _cpuload_pub;
hrt_abstime _last_idle_time;
perf_counter_t _stack_perf;
};
LoadMon::LoadMon() :
@@ -127,7 +131,8 @@ LoadMon::LoadMon() :
_work{},
_cpuload{},
_cpuload_pub(nullptr),
_last_idle_time(0)
_last_idle_time(0),
_stack_perf(perf_alloc(PC_ELAPSED, "stack_check"))
{}
LoadMon::~LoadMon()
@@ -184,7 +189,11 @@ void LoadMon::_compute()
_cpuload.ram_usage = _ram_used();
#ifdef __PX4_NUTTX
perf_begin(_stack_perf);
sched_lock();
_stack_usage();
sched_unlock();
perf_end(_stack_perf);
#endif
if (_cpuload_pub == nullptr) {
@@ -275,6 +284,11 @@ void LoadMon::_stack_usage()
}
#endif
void LoadMon::printStatus()
{
perf_print_counter(_stack_perf);
}
/**
* Print the correct usage.
*/
@@ -361,6 +375,7 @@ int load_mon_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (load_mon != nullptr && load_mon->isRunning()) {
PX4_INFO("running");
load_mon->printStatus();
} else {
PX4_INFO("not running\n");