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UAVCAN perf counters

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This commit is contained in:
Pavel Kirienko
2015-01-10 22:26:49 +03:00
committed by Lorenz Meier
parent e8e4a3b5da
commit eea3c801f4
2 changed files with 37 additions and 2 deletions
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30
src/modules/uavcan/uavcan_main.cpp
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@@ -81,6 +81,22 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys
if (res < 0) {
std::abort();
}
if (_perfcnt_node_spin_elapsed == nullptr) {
errx(1, "uavcan: couldn't allocate _perfcnt_node_spin_elapsed");
}
if (_perfcnt_esc_mixer_output_elapsed == nullptr) {
errx(1, "uavcan: couldn't allocate _perfcnt_esc_mixer_output_elapsed");
}
if (_perfcnt_esc_mixer_total_elapsed == nullptr) {
errx(1, "uavcan: couldn't allocate _perfcnt_esc_mixer_total_elapsed");
}
if (_perfcnt_esc_mixer_subscriptions == nullptr) {
errx(1, "uavcan: couldn't allocate _perfcnt_esc_mixer_subscriptions");
}
}
UavcanNode::~UavcanNode()
@@ -118,6 +134,11 @@ UavcanNode::~UavcanNode()
}
_instance = nullptr;
perf_free(_perfcnt_node_spin_elapsed);
perf_free(_perfcnt_esc_mixer_output_elapsed);
perf_free(_perfcnt_esc_mixer_total_elapsed);
perf_free(_perfcnt_esc_mixer_subscriptions);
}
int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
@@ -265,10 +286,12 @@ int UavcanNode::init(uavcan::NodeID node_id)
void UavcanNode::node_spin_once()
{
perf_begin(_perfcnt_node_spin_elapsed);
const int spin_res = _node.spin(uavcan::MonotonicTime());
if (spin_res < 0) {
warnx("node spin error %i", spin_res);
}
perf_end(_perfcnt_node_spin_elapsed);
}
/*
@@ -344,8 +367,12 @@ int UavcanNode::run()
// Mutex is unlocked while the thread is blocked on IO multiplexing
(void)pthread_mutex_unlock(&_node_mutex);
perf_end(_perfcnt_esc_mixer_total_elapsed); // end goes first, it's not a mistake
const int poll_ret = ::poll(_poll_fds, _poll_fds_num, PollTimeoutMs);
perf_begin(_perfcnt_esc_mixer_total_elapsed);
(void)pthread_mutex_lock(&_node_mutex);
node_spin_once(); // Non-blocking
@@ -430,7 +457,9 @@ int UavcanNode::run()
}
// Output to the bus
_outputs.timestamp = hrt_absolute_time();
perf_begin(_perfcnt_esc_mixer_output_elapsed);
_esc_controller.update_outputs(_outputs.output, _outputs.noutputs);
perf_end(_perfcnt_esc_mixer_output_elapsed);
}
@@ -498,6 +527,7 @@ UavcanNode::arm_actuators(bool arm)
void
UavcanNode::subscribe()
{
perf_count(_perfcnt_esc_mixer_subscriptions);
// Subscribe/unsubscribe to required actuator control groups
uint32_t sub_groups = _groups_required & ~_groups_subscribed;
uint32_t unsub_groups = _groups_subscribed & ~_groups_required;