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dagardagar
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load_mon: split out header
1 parent fd66d42 commit 392eb12

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3 files changed

+99
-71
lines changed

3 files changed

+99
-71
lines changed

‎src/modules/load_mon/CMakeLists.txt

+3-3
Original file line numberDiff line numberDiff line change
@@ -35,8 +35,8 @@ px4_add_module(
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MAIN load_mon
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COMPILE_FLAGS
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SRCS
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load_mon.cpp
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LoadMon.cpp
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LoadMon.hpp
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DEPENDS
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px4_work_queue
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)
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)

‎src/modules/load_mon/load_mon.cpp ‎src/modules/load_mon/LoadMon.cpp

+1-68
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@@ -31,29 +31,7 @@
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*
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****************************************************************************/
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/**
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* @file load_mon.cpp
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*
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* @author Jonathan Challinger <[email protected]>
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* @author Julian Oes <[email protected]
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* @author Andreas Antener <[email protected]>
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*/
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#include <drivers/drv_hrt.h>
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#include <lib/perf/perf_counter.h>
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/module_params.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <systemlib/cpuload.h>
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#include <uORB/Publication.hpp>
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#include <uORB/topics/cpuload.h>
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#include <uORB/topics/task_stack_info.h>
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#if defined(__PX4_NUTTX) && !defined(CONFIG_SCHED_INSTRUMENTATION)
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# error load_mon support requires CONFIG_SCHED_INSTRUMENTATION
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#endif
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#include "LoadMon.hpp"
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// if free stack space falls below this, print a warning
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#if defined(CONFIG_ARMV7M_STACKCHECK)
@@ -69,50 +47,6 @@ using namespace time_literals;
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namespace load_mon
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{
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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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LoadMon();
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~LoadMon() override;
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[])
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{
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return print_usage("unknown command");
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}
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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void start();
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private:
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/** Do a compute and schedule the next cycle. */
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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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/* Calculate 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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DEFINE_PARAMETERS(
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(ParamBool<px4::params::SYS_STCK_EN>) _param_sys_stck_en
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)
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uORB::Publication<cpuload_s> _cpuload_pub{ORB_ID(cpuload)};
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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 _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)
@@ -122,7 +56,6 @@ LoadMon::LoadMon() :
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LoadMon::~LoadMon()
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{
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ScheduleClear();
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perf_free(_cycle_perf);
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}
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‎src/modules/load_mon/LoadMon.hpp

+95
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,95 @@
1+
/****************************************************************************
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*
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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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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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34+
#pragma once
35+
36+
#include <drivers/drv_hrt.h>
37+
#include <lib/perf/perf_counter.h>
38+
#include <px4_platform_common/px4_config.h>
39+
#include <px4_platform_common/defines.h>
40+
#include <px4_platform_common/module.h>
41+
#include <px4_platform_common/module_params.h>
42+
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <systemlib/cpuload.h>
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#include <uORB/Publication.hpp>
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#include <uORB/topics/cpuload.h>
46+
#include <uORB/topics/task_stack_info.h>
47+
48+
namespace load_mon
49+
{
50+
51+
class LoadMon : public ModuleBase<LoadMon>, public ModuleParams, public px4::ScheduledWorkItem
52+
{
53+
public:
54+
LoadMon();
55+
~LoadMon() override;
56+
57+
static int task_spawn(int argc, char *argv[]);
58+
59+
/** @see ModuleBase */
60+
static int custom_command(int argc, char *argv[])
61+
{
62+
return print_usage("unknown command");
63+
}
64+
65+
/** @see ModuleBase */
66+
static int print_usage(const char *reason = nullptr);
67+
68+
void start();
69+
70+
private:
71+
/** Do a compute and schedule the next cycle. */
72+
void Run() override;
73+
74+
/** Do a calculation of the CPU load and publish it. */
75+
void cpuload();
76+
77+
/* Calculate stack usage */
78+
void stack_usage();
79+
80+
int _stack_task_index{0};
81+
82+
uORB::PublicationQueued<task_stack_info_s> _task_stack_info_pub{ORB_ID(task_stack_info)};
83+
uORB::Publication<cpuload_s> _cpuload_pub{ORB_ID(cpuload)};
84+
85+
hrt_abstime _last_idle_time{0};
86+
hrt_abstime _last_idle_time_sample{0};
87+
88+
perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
89+
90+
DEFINE_PARAMETERS(
91+
(ParamBool<px4::params::SYS_STCK_EN>) _param_sys_stck_en
92+
)
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};
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} // namespace load_mon

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