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Load monitor: optimize performance of stack checking

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This commit is contained in:
Andreas Antener
2016-12-04 18:04:35 +01:00
committed by Lorenz Meier
parent a74269ec60
commit dda0de09dd
1 changed files with 18 additions and 10 deletions
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28
src/modules/load_mon/load_mon.cpp
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@@ -227,12 +227,17 @@ float LoadMon::_ram_used()
#ifdef __PX4_NUTTX
void LoadMon::_stack_usage()
{
for (int i = _stack_task_index; i < CONFIG_MAX_TASKS; i++) {
if (system_load.tasks[i].valid && system_load.tasks[i].tcb->pid > 0) {
unsigned stack_size = (uintptr_t)system_load.tasks[i].tcb->adj_stack_ptr -
(uintptr_t)system_load.tasks[i].tcb->stack_alloc_ptr;
int task_index = 0;
/* Scan maximum 3 tasks per cycle to reduce load. */
for (int i = _stack_task_index; i < _stack_task_index + 3; i++) {
task_index = i % CONFIG_MAX_TASKS;
if (system_load.tasks[task_index].valid && system_load.tasks[task_index].tcb->pid > 0) {
unsigned stack_size = (uintptr_t)system_load.tasks[task_index].tcb->adj_stack_ptr -
(uintptr_t)system_load.tasks[task_index].tcb->stack_alloc_ptr;
unsigned stack_free = 0;
uint8_t *stack_sweeper = (uint8_t *)system_load.tasks[i].tcb->stack_alloc_ptr;
uint8_t *stack_sweeper = (uint8_t *)system_load.tasks[task_index].tcb->stack_alloc_ptr;
while (stack_free < stack_size) {
if (*stack_sweeper++ != 0xff) {
@@ -246,7 +251,7 @@ void LoadMon::_stack_usage()
* Found task low on stack, report and exit. Continue here in next cycle.
*/
if (stack_free < 300) {
strncpy((char *)_low_stack.task_name, system_load.tasks[i].tcb->name, low_stack_s::MAX_REPORT_TASK_NAME_LEN);
strncpy((char *)_low_stack.task_name, system_load.tasks[task_index].tcb->name, low_stack_s::MAX_REPORT_TASK_NAME_LEN);
_low_stack.stack_free = stack_free;
if (_low_stack_pub == nullptr) {
@@ -256,14 +261,17 @@ void LoadMon::_stack_usage()
orb_publish(ORB_ID(low_stack), _low_stack_pub, &_low_stack);
}
// continue at next index
_stack_task_index = i + 1;
return;
break;
}
} else {
/* No task here, check one more task in same cycle. */
_stack_task_index++;
}
}
_stack_task_index = 0;
/* Continue after last checked task next cycle. */
_stack_task_index = task_index + 1;
}
#endif