Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "AP_Scheduler_config.h"
       4             : 
       5             : #if AP_SCHEDULER_ENABLED
       6             : 
       7             : #include <stdint.h>
       8             : #include <AP_Common/ExpandingString.h>
       9             : 
      10             : namespace AP {
      11             : 
      12             : class PerfInfo {
      13             : public:
      14        2098 :     PerfInfo() {}
      15             : 
      16             :     // per-task timing information
      17             :     struct TaskInfo {
      18             :         uint16_t min_time_us;
      19             :         uint16_t max_time_us;
      20             :         uint32_t elapsed_time_us;
      21             :         uint32_t tick_count;
      22             :         uint16_t slip_count;
      23             :         uint16_t overrun_count;
      24             : 
      25             :         void update(uint16_t task_time_us, bool overrun);
      26             :         void print(const char* task_name, uint32_t total_time, ExpandingString& str) const;
      27             :     };
      28             : 
      29             :     /* Do not allow copies */
      30             :     CLASS_NO_COPY(PerfInfo);
      31             : 
      32             :     void reset();
      33             :     void ignore_this_loop();
      34             :     void check_loop_time(uint32_t time_in_micros);
      35             :     uint16_t get_num_loops() const;
      36             :     uint32_t get_max_time() const;
      37             :     uint32_t get_min_time() const;
      38             :     uint16_t get_num_long_running() const;
      39             :     uint32_t get_avg_time() const;
      40             :     uint32_t get_stddev_time() const;
      41             :     float    get_filtered_time() const;
      42             :     float get_filtered_loop_rate_hz() const;
      43             :     void set_loop_rate(uint16_t rate_hz);
      44             : 
      45             :     void update_logging() const;
      46             : 
      47             :     // allocate the array of task statistics for use by @SYS/tasks.txt
      48             :     void allocate_task_info(uint8_t num_tasks);
      49             :     void free_task_info();
      50             :     // whether or not we have task info allocated
      51       19414 :     bool has_task_info() { return _task_info != nullptr; }
      52             :     // return a task info
      53         344 :     const TaskInfo* get_task_info(uint8_t task_index) const {
      54         344 :         return (_task_info && task_index < _num_tasks) ? &_task_info[task_index] : nullptr;
      55             :     }
      56             :     // called after each run of a task to update its statistics based on measurements taken by the scheduler
      57             :     void update_task_info(uint8_t task_index, uint16_t task_time_us, bool overrun);
      58             :     // record that a task slipped
      59        2158 :     void task_slipped(uint8_t task_index) {
      60        2158 :         if (_task_info && task_index < _num_tasks) {
      61           0 :             _task_info[task_index].overrun_count++;
      62             :         }
      63        2158 :     }
      64             : 
      65             : private:
      66             :     uint16_t loop_rate_hz;
      67             :     uint16_t overtime_threshold_micros;
      68             :     uint16_t loop_count;
      69             :     uint32_t max_time; // in microseconds
      70             :     uint32_t min_time; // in microseconds
      71             :     uint64_t sigma_time;
      72             :     uint64_t sigmasquared_time;
      73             :     uint16_t long_running;
      74             :     uint32_t last_check_us;
      75             :     float filtered_loop_time;
      76             :     bool ignore_loop;
      77             :     // performance monitoring
      78             :     uint8_t _num_tasks;
      79             :     TaskInfo* _task_info;
      80             : };
      81             : 
      82             : };
      83             : 
      84             : #endif  // AP_SCHEDULER_ENABLED