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NuttX cpuload monitoring optimization
- Nuttx only process all suspend & resume scheduling notes when top is running, otherwise only track IDLE - convert cpuload and print load to c++ - delete unused fields from print_load struct - update hrt_store_absolute_time (previous unused)
This commit is contained in:
Daniel Agar
@@ -0,0 +1,204 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
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* Redistribution and use in source and binary forms, with or without
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* 1. Redistributions of source code must retain the above copyright
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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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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file cpuload.c
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*
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* Measurement of CPU load of each individual task.
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*
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* @author Lorenz Meier <lorenz@px4.io>
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* @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
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*/
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/atomic.h>
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#include <px4_platform/cpuload.h>
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#include <drivers/drv_hrt.h>
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#include <sys/time.h>
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#if defined(__PX4_NUTTX) && defined(CONFIG_SCHED_INSTRUMENTATION)
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# include <nuttx/sched_note.h>
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void sched_note_suspend(FAR struct tcb_s *tcb);
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void sched_note_resume(FAR struct tcb_s *tcb);
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__EXPORT void sched_note_switch(FAR struct tcb_s *pFromTcb, FAR struct tcb_s *pToTcb);
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__EXPORT struct system_load_s system_load;
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extern FAR struct tcb_s *sched_gettcb(pid_t pid);
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static px4::atomic_int cpuload_monitor_all_count{0};
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void cpuload_monitor_start()
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{
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if (cpuload_monitor_all_count.fetch_add(1) == 0) {
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// if the count was previously 0 (idle thread only) then clear any existing runtime data
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sched_lock();
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system_load.start_time = hrt_absolute_time();
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for (int i = 1; i < CONFIG_MAX_TASKS; i++) {
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system_load.tasks[i].total_runtime = 0;
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system_load.tasks[i].curr_start_time = 0;
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}
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sched_unlock();
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}
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}
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void cpuload_monitor_stop()
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{
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if (cpuload_monitor_all_count.fetch_sub(1) <= 1) {
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// don't allow the count to go negative
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cpuload_monitor_all_count.store(0);
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}
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}
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void cpuload_initialize_once()
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{
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for (auto &task : system_load.tasks) {
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task.valid = false;
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}
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int static_tasks_count = 2; // there are at least 2 threads that should be initialized statically - "idle" and "init"
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#ifdef CONFIG_PAGING
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static_tasks_count++; // include paging thread in initialization
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#endif /* CONFIG_PAGING */
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#if CONFIG_SCHED_WORKQUEUE
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static_tasks_count++; // include high priority work0 thread in initialization
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#endif /* CONFIG_SCHED_WORKQUEUE */
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#if CONFIG_SCHED_LPWORK
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static_tasks_count++; // include low priority work1 thread in initialization
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#endif /* CONFIG_SCHED_WORKQUEUE */
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// perform static initialization of "system" threads
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for (system_load.total_count = 0; system_load.total_count < static_tasks_count; system_load.total_count++) {
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system_load.tasks[system_load.total_count].total_runtime = 0;
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system_load.tasks[system_load.total_count].curr_start_time = 0;
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system_load.tasks[system_load.total_count].tcb = sched_gettcb(
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system_load.total_count); // it is assumed that these static threads have consecutive PIDs
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system_load.tasks[system_load.total_count].valid = true;
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}
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system_load.initialized = true;
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}
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void sched_note_start(FAR struct tcb_s *tcb)
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{
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// find first free slot
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if (system_load.initialized) {
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for (auto &task : system_load.tasks) {
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if (!task.valid) {
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// slot is available
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task.total_runtime = 0;
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task.curr_start_time = 0;
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task.tcb = tcb;
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task.valid = true;
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system_load.total_count++;
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break;
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}
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}
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}
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}
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void sched_note_stop(FAR struct tcb_s *tcb)
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{
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if (system_load.initialized) {
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for (auto &task : system_load.tasks) {
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if (task.tcb && task.tcb->pid == tcb->pid) {
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// mark slot as free
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task.valid = false;
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task.total_runtime = 0;
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task.curr_start_time = 0;
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task.tcb = nullptr;
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system_load.total_count--;
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break;
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}
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}
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}
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}
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void sched_note_suspend(FAR struct tcb_s *tcb)
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{
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if (system_load.initialized) {
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if (tcb->pid == 0) {
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system_load.tasks[0].total_runtime += hrt_elapsed_time(&system_load.tasks[0].curr_start_time);
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return;
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} else {
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if (cpuload_monitor_all_count.load() == 0) {
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return;
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}
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}
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for (auto &task : system_load.tasks) {
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// Task ending its current scheduling run
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if (task.valid && (task.curr_start_time > 0)
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&& task.tcb && task.tcb->pid == tcb->pid) {
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task.total_runtime += hrt_elapsed_time(&task.curr_start_time);
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break;
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}
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}
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}
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}
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void sched_note_resume(FAR struct tcb_s *tcb)
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{
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if (system_load.initialized) {
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if (tcb->pid == 0) {
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hrt_store_absolute_time(&system_load.tasks[0].curr_start_time);
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return;
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} else {
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if (cpuload_monitor_all_count.load() == 0) {
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return;
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}
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}
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for (auto &task : system_load.tasks) {
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if (task.valid && task.tcb && task.tcb->pid == tcb->pid) {
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// curr_start_time is accessed from an IRQ handler (in logger), so we need
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// to make the update atomic
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hrt_store_absolute_time(&task.curr_start_time);
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break;
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}
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}
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}
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}
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#endif // PX4_NUTTX && CONFIG_SCHED_INSTRUMENTATION
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