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load_mon updates
- increase rate - cpu load calculation grab timestamp atomically - only check one task per cycle (but cycle at a higher rate) - decrease available FD threshold - minor cleanup
This commit is contained in:
Daniel Agar
@@ -1,6 +1,6 @@
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############################################################################
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#
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# Copyright (c) 2016 PX4 Development Team. All rights reserved.
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# Copyright (c) 2016-2020 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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@@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2018 PX4 Development Team. All rights reserved.
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* Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@@ -62,16 +62,13 @@ static constexpr unsigned STACK_LOW_WARNING_THRESHOLD = 100;
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static constexpr unsigned STACK_LOW_WARNING_THRESHOLD = 300;
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#endif
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#define FDS_LOW_WARNING_THRESHOLD 3 ///< if free file descriptors fall below this, print a warning
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static constexpr unsigned FDS_LOW_WARNING_THRESHOLD = 2; ///< if free file descriptors fall below this, print a warning
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using namespace time_literals;
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namespace load_mon
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{
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extern "C" __EXPORT int load_mon_main(int argc, char *argv[]);
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// Run it at 1 Hz.
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const unsigned LOAD_MON_INTERVAL_US = 1000000;
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class LoadMon : public ModuleBase<LoadMon>, public ModuleParams, public px4::ScheduledWorkItem
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{
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public:
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@@ -96,18 +93,13 @@ private:
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void Run() override;
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/** Do a calculation of the CPU load and publish it. */
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void _cpuload();
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void cpuload();
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/** Calculate the memory usage */
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float _ram_used();
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#ifdef __PX4_NUTTX
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/* Calculate stack usage */
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void _stack_usage();
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void stack_usage();
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int _stack_task_index{0};
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uORB::PublicationQueued<task_stack_info_s> _task_stack_info_pub{ORB_ID(task_stack_info)};
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#endif
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DEFINE_PARAMETERS(
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(ParamBool<px4::params::SYS_STCK_EN>) _param_sys_stck_en
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@@ -118,13 +110,12 @@ private:
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hrt_abstime _last_idle_time{0};
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hrt_abstime _last_idle_time_sample{0};
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perf_counter_t _stack_perf;
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perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
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};
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LoadMon::LoadMon() :
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ModuleParams(nullptr),
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ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default),
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_stack_perf(perf_alloc(PC_ELAPSED, "stack_check"))
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ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
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{
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}
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@@ -132,7 +123,7 @@ LoadMon::~LoadMon()
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{
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ScheduleClear();
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perf_free(_stack_perf);
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perf_free(_cycle_perf);
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}
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int LoadMon::task_spawn(int argc, char *argv[])
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@@ -153,161 +144,125 @@ int LoadMon::task_spawn(int argc, char *argv[])
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return 0;
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}
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void
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LoadMon::start()
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void LoadMon::start()
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{
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ScheduleOnInterval(LOAD_MON_INTERVAL_US);
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ScheduleOnInterval(300_ms);
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}
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void LoadMon::Run()
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{
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_cpuload();
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perf_begin(_cycle_perf);
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#ifdef __PX4_NUTTX
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cpuload();
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if (_param_sys_stck_en.get()) {
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_stack_usage();
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stack_usage();
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}
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#endif
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if (should_exit()) {
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ScheduleClear();
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exit_and_cleanup();
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}
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perf_end(_cycle_perf);
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}
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void LoadMon::_cpuload()
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void LoadMon::cpuload()
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{
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if (_last_idle_time == 0) {
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/* Just get the time in the first iteration */
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// Just get the time in the first iteration */
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_last_idle_time = system_load.tasks[0].total_runtime;
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_last_idle_time_sample = hrt_absolute_time();
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return;
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}
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/* compute system load */
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irqstate_t irqstate = enter_critical_section();
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const hrt_abstime now = hrt_absolute_time();
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const hrt_abstime total_runtime = system_load.tasks[0].total_runtime;
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const hrt_abstime interval = hrt_elapsed_time(&_last_idle_time_sample);
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const hrt_abstime interval_idletime = total_runtime - _last_idle_time;
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leave_critical_section(irqstate);
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_last_idle_time = total_runtime;
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_last_idle_time_sample = hrt_absolute_time();
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// compute system load
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const float interval = now - _last_idle_time_sample;
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const float interval_idletime = total_runtime - _last_idle_time;
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// get ram usage
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struct mallinfo mem = mallinfo();
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float ram_usage = (float)mem.uordblks / mem.arena;
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cpuload_s cpuload{};
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cpuload.load = 1.0f - (float)interval_idletime / (float)interval;
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cpuload.ram_usage = _ram_used();
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cpuload.load = 1.f - interval_idletime / interval;
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cpuload.ram_usage = ram_usage;
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cpuload.timestamp = hrt_absolute_time();
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_cpuload_pub.publish(cpuload);
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// store for next iteration
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_last_idle_time = total_runtime;
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_last_idle_time_sample = now;
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}
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float LoadMon::_ram_used()
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void LoadMon::stack_usage()
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{
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#ifdef __PX4_NUTTX
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struct mallinfo mem;
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unsigned stack_free = 0;
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unsigned fds_free = FDS_LOW_WARNING_THRESHOLD + 1;
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#ifdef CONFIG_CAN_PASS_STRUCTS
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mem = mallinfo();
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#else
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(void)mallinfo(&mem);
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#endif /* CONFIG_CAN_PASS_STRUCTS */
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bool checked_task = false;
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// mem.arena: total ram (bytes)
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// mem.uordblks: used (bytes)
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// mem.fordblks: free (bytes)
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// mem.mxordblk: largest remaining block (bytes)
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task_stack_info_s task_stack_info{};
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static_assert(sizeof(task_stack_info.task_name) == CONFIG_TASK_NAME_SIZE,
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"task_stack_info.task_name must match NuttX CONFIG_TASK_NAME_SIZE");
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return (float)mem.uordblks / mem.arena;
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sched_lock();
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#else
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return 0.0f;
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#endif
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}
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if (system_load.tasks[_stack_task_index].valid && (system_load.tasks[_stack_task_index].tcb->pid > 0)) {
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#ifdef __PX4_NUTTX
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void LoadMon::_stack_usage()
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{
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int task_index = 0;
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stack_free = up_check_tcbstack_remain(system_load.tasks[_stack_task_index].tcb);
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/* Scan maximum num_tasks_per_cycle tasks to reduce load. */
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const int num_tasks_per_cycle = 2;
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strncpy((char *)task_stack_info.task_name, system_load.tasks[_stack_task_index].tcb->name, CONFIG_TASK_NAME_SIZE - 1);
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task_stack_info.task_name[CONFIG_TASK_NAME_SIZE - 1] = '\0';
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for (int i = _stack_task_index; i < _stack_task_index + num_tasks_per_cycle; i++) {
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task_index = i % CONFIG_MAX_TASKS;
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unsigned stack_free = 0;
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unsigned fds_free = FDS_LOW_WARNING_THRESHOLD + 1;
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bool checked_task = false;
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perf_begin(_stack_perf);
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sched_lock();
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task_stack_info_s task_stack_info = {};
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if (system_load.tasks[task_index].valid && (system_load.tasks[task_index].tcb->pid > 0)) {
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stack_free = up_check_tcbstack_remain(system_load.tasks[task_index].tcb);
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static_assert(sizeof(task_stack_info.task_name) == CONFIG_TASK_NAME_SIZE,
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"task_stack_info.task_name must match NuttX CONFIG_TASK_NAME_SIZE");
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strncpy((char *)task_stack_info.task_name, system_load.tasks[task_index].tcb->name, CONFIG_TASK_NAME_SIZE - 1);
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task_stack_info.task_name[CONFIG_TASK_NAME_SIZE - 1] = '\0';
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checked_task = true;
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#if CONFIG_NFILE_DESCRIPTORS > 0
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FAR struct task_group_s *group = system_load.tasks[task_index].tcb->group;
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FAR struct task_group_s *group = system_load.tasks[_stack_task_index].tcb->group;
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unsigned tcb_num_used_fds = 0;
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unsigned tcb_num_used_fds = 0;
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if (group) {
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for (int fd_index = 0; fd_index < CONFIG_NFILE_DESCRIPTORS; ++fd_index) {
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if (group->tg_filelist.fl_files[fd_index].f_inode) {
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++tcb_num_used_fds;
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}
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if (group) {
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for (int fd_index = 0; fd_index < CONFIG_NFILE_DESCRIPTORS; ++fd_index) {
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if (group->tg_filelist.fl_files[fd_index].f_inode) {
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++tcb_num_used_fds;
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}
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fds_free = CONFIG_NFILE_DESCRIPTORS - tcb_num_used_fds;
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}
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#endif // CONFIG_NFILE_DESCRIPTORS
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checked_task = true;
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fds_free = CONFIG_NFILE_DESCRIPTORS - tcb_num_used_fds;
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}
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sched_unlock();
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perf_end(_stack_perf);
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#endif // CONFIG_NFILE_DESCRIPTORS
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}
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if (checked_task) {
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sched_unlock();
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task_stack_info.stack_free = stack_free;
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task_stack_info.timestamp = hrt_absolute_time();
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if (checked_task) {
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task_stack_info.stack_free = stack_free;
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task_stack_info.timestamp = hrt_absolute_time();
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_task_stack_info_pub.publish(task_stack_info);
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_task_stack_info_pub.publish(task_stack_info);
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/*
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* Found task low on stack, report and exit. Continue here in next cycle.
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*/
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if (stack_free < STACK_LOW_WARNING_THRESHOLD) {
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PX4_WARN("%s low on stack! (%i bytes left)", task_stack_info.task_name, stack_free);
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break;
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}
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// Found task low on stack, report and exit. Continue here in next cycle.
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if (stack_free < STACK_LOW_WARNING_THRESHOLD) {
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PX4_WARN("%s low on stack! (%i bytes left)", task_stack_info.task_name, stack_free);
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}
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/*
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* Found task low on file descriptors, report and exit. Continue here in next cycle.
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*/
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if (fds_free < FDS_LOW_WARNING_THRESHOLD) {
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PX4_WARN("%s low on FDs! (%i FDs left)", task_stack_info.task_name, fds_free);
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break;
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}
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} else {
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/* No task here, check one more task in same cycle. */
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_stack_task_index++;
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// Found task low on file descriptors, report and exit. Continue here in next cycle.
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if (fds_free < FDS_LOW_WARNING_THRESHOLD) {
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PX4_WARN("%s low on FDs! (%i FDs left)", task_stack_info.task_name, fds_free);
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}
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}
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/* Continue after last checked task next cycle. */
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_stack_task_index = task_index + 1;
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// Continue after last checked task next cycle
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_stack_task_index = (_stack_task_index + 1) % CONFIG_MAX_TASKS;
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}
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#endif
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int LoadMon::print_usage(const char *reason)
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{
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@@ -318,7 +273,7 @@ int LoadMon::print_usage(const char *reason)
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PRINT_MODULE_DESCRIPTION(
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R"DESCR_STR(
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### Description
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Background process running periodically with 1 Hz on the LP work queue to calculate the CPU load and RAM
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Background process running periodically with 1 Hz on the low priority work queue to calculate the CPU load and RAM
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usage and publish the `cpuload` topic.
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On NuttX it also checks the stack usage of each process and if it falls below 300 bytes, a warning is output,
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@@ -331,8 +286,7 @@ which will also appear in the log file.
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return 0;
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}
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int load_mon_main(int argc, char *argv[])
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extern "C" __EXPORT int load_mon_main(int argc, char *argv[])
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{
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return LoadMon::main(argc, argv);
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}
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@@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (c) 2013-2017 PX4 Development Team. All rights reserved.
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* Copyright (c) 2013-2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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