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px4_work_queue: command line status output and shutdown empty queues

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* adds a work_queue systemcmd that will bring a tree view of all active work queues and work items
 * WorkQueues now track attached WorkItems and will shutdown when the last WorkItem is detached
This commit is contained in:
Daniel Agar
2019-10-02 12:23:17 -04:00
committed by GitHub
parent cc1d86bc0b
commit 26364d44c9
167 changed files with 582 additions and 274 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/airspeed_selector/airspeed_selector_main.cpp
+1 -7
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@@ -137,8 +137,6 @@ private:
bool _scale_estimation_previously_on{false}; /**< scale_estimation was on in the last cycle */
perf_counter_t _perf_elapsed{};
perf_counter_t _perf_interval{};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::ARSP_W_P_NOISE>) _param_west_w_p_noise,
@@ -170,13 +168,12 @@ private:
AirspeedModule::AirspeedModule():
ModuleParams(nullptr),
ScheduledWorkItem(px4::wq_configurations::lp_default)
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
{
// initialise parameters
update_params();
_perf_elapsed = perf_alloc_once(PC_ELAPSED, "airspeed_selector elapsed");
_perf_interval = perf_alloc_once(PC_INTERVAL, "airspeed_selector interval");
}
AirspeedModule::~AirspeedModule()
@@ -184,7 +181,6 @@ AirspeedModule::~AirspeedModule()
ScheduleClear();
perf_free(_perf_elapsed);
perf_free(_perf_interval);
if (_airspeed_validator != nullptr) {
delete[] _airspeed_validator;
@@ -216,7 +212,6 @@ AirspeedModule::task_spawn(int argc, char *argv[])
void
AirspeedModule::Run()
{
perf_count(_perf_interval);
perf_begin(_perf_elapsed);
/* the first time we run through here, initialize N airspeedValidator
@@ -572,7 +567,6 @@ and also publishes those.
int AirspeedModule::print_status()
{
perf_print_counter(_perf_elapsed);
perf_print_counter(_perf_interval);
int instance = 0;
uORB::SubscriptionData<airspeed_validated_s> est{ORB_ID(airspeed_validated), (uint8_t)instance};
src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+2 -6
View File
@@ -45,9 +45,8 @@ using namespace time_literals;
extern "C" __EXPORT int fw_att_control_main(int argc, char *argv[]);
FixedwingAttitudeControl::FixedwingAttitudeControl() :
WorkItem(px4::wq_configurations::att_pos_ctrl),
_loop_perf(perf_alloc(PC_ELAPSED, "fw_att_control: cycle")),
_loop_interval_perf(perf_alloc(PC_INTERVAL, "fw_att_control: interval"))
WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
_loop_perf(perf_alloc(PC_ELAPSED, "fw_att_control: cycle"))
{
// check if VTOL first
vehicle_status_poll();
@@ -132,7 +131,6 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
FixedwingAttitudeControl::~FixedwingAttitudeControl()
{
perf_free(_loop_perf);
perf_free(_loop_interval_perf);
}
bool
@@ -450,7 +448,6 @@ void FixedwingAttitudeControl::Run()
}
perf_begin(_loop_perf);
perf_count(_loop_interval_perf);
if (_att_sub.update(&_att)) {
@@ -922,7 +919,6 @@ int FixedwingAttitudeControl::print_status()
PX4_INFO("Running");
perf_print_counter(_loop_perf);
perf_print_counter(_loop_interval_perf);
return 0;
}
src/modules/fw_att_control/FixedwingAttitudeControl.hpp
-1
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@@ -131,7 +131,6 @@ private:
vehicle_status_s _vehicle_status {}; /**< vehicle status */
perf_counter_t _loop_perf; /**< loop performance counter */
perf_counter_t _loop_interval_perf; /**< loop interval performance counter */
float _flaps_applied{0.0f};
float _flaperons_applied{0.0f};
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+1 -5
View File
@@ -37,9 +37,8 @@ extern "C" __EXPORT int fw_pos_control_l1_main(int argc, char *argv[]);
FixedwingPositionControl::FixedwingPositionControl() :
ModuleParams(nullptr),
WorkItem(px4::wq_configurations::att_pos_ctrl),
WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
_loop_perf(perf_alloc(PC_ELAPSED, "fw_pos_control_l1: cycle")),
_loop_interval_perf(perf_alloc(PC_INTERVAL, "fw_pos_control_l1: interval")),
_launchDetector(this),
_runway_takeoff(this)
{
@@ -114,7 +113,6 @@ FixedwingPositionControl::FixedwingPositionControl() :
FixedwingPositionControl::~FixedwingPositionControl()
{
perf_free(_loop_perf);
perf_free(_loop_interval_perf);
}
bool
@@ -1657,7 +1655,6 @@ FixedwingPositionControl::Run()
}
perf_begin(_loop_perf);
perf_count(_loop_interval_perf);
/* only run controller if position changed */
if (_global_pos_sub.update(&_global_pos)) {
@@ -1990,7 +1987,6 @@ int FixedwingPositionControl::print_status()
PX4_INFO("Running");
perf_print_counter(_loop_perf);
perf_print_counter(_loop_interval_perf);
return 0;
}
src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
-1
View File
@@ -187,7 +187,6 @@ private:
SubscriptionData<vehicle_acceleration_s> _vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
perf_counter_t _loop_perf; ///< loop performance counter */
perf_counter_t _loop_interval_perf; ///< loop interval performance counter */
float _hold_alt{0.0f}; ///< hold altitude for altitude mode */
float _takeoff_ground_alt{0.0f}; ///< ground altitude at which plane was launched */
src/modules/land_detector/LandDetector.cpp
+1 -1
View File
@@ -55,7 +55,7 @@ namespace land_detector
LandDetector::LandDetector() :
ModuleParams(nullptr),
ScheduledWorkItem(px4::wq_configurations::hp_default)
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
{
_land_detected.timestamp = hrt_absolute_time();
_land_detected.freefall = false;
src/modules/load_mon/load_mon.cpp
+1 -1
View File
@@ -123,7 +123,7 @@ private:
LoadMon::LoadMon() :
ModuleParams(nullptr),
ScheduledWorkItem(px4::wq_configurations::lp_default),
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default),
_stack_perf(perf_alloc(PC_ELAPSED, "stack_check"))
{
}
src/modules/mc_att_control/mc_att_control_main.cpp
+1 -1
View File
@@ -63,7 +63,7 @@ using namespace matrix;
MulticopterAttitudeControl::MulticopterAttitudeControl() :
ModuleParams(nullptr),
WorkItem(px4::wq_configurations::rate_ctrl),
WorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control"))
{
_vehicle_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
src/modules/sensors/CMakeLists.txt
+2 -2
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@@ -53,6 +53,6 @@ px4_add_module(
git_ecl
ecl_validation
mathlib
sensors__vehicle_acceleration
sensors__vehicle_angular_velocity
vehicle_acceleration
vehicle_angular_velocity
)
src/modules/sensors/vehicle_acceleration/CMakeLists.txt
+2 -2
View File
@@ -31,7 +31,7 @@
#
############################################################################
px4_add_library(sensors__vehicle_acceleration
px4_add_library(vehicle_acceleration
VehicleAcceleration.cpp
)
target_link_libraries(sensors__vehicle_acceleration PRIVATE px4_work_queue)
target_link_libraries(vehicle_acceleration PRIVATE px4_work_queue)
src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp
+1 -5
View File
@@ -40,9 +40,8 @@ using namespace time_literals;
VehicleAcceleration::VehicleAcceleration() :
ModuleParams(nullptr),
WorkItem(px4::wq_configurations::att_pos_ctrl),
WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
_cycle_perf(perf_alloc(PC_ELAPSED, "vehicle_acceleration: cycle time")),
_interval_perf(perf_alloc(PC_INTERVAL, "vehicle_acceleration: interval")),
_sensor_latency_perf(perf_alloc(PC_ELAPSED, "vehicle_acceleration: sensor latency"))
{
}
@@ -52,7 +51,6 @@ VehicleAcceleration::~VehicleAcceleration()
Stop();
perf_free(_cycle_perf);
perf_free(_interval_perf);
perf_free(_sensor_latency_perf);
}
@@ -178,7 +176,6 @@ void
VehicleAcceleration::Run()
{
perf_begin(_cycle_perf);
perf_count(_interval_perf);
// update corrections first to set _selected_sensor
SensorCorrectionsUpdate();
@@ -220,6 +217,5 @@ VehicleAcceleration::PrintStatus()
PX4_INFO("selected sensor: %d", _selected_sensor);
perf_print_counter(_cycle_perf);
perf_print_counter(_interval_perf);
perf_print_counter(_sensor_latency_perf);
}
src/modules/sensors/vehicle_acceleration/VehicleAcceleration.hpp
-1
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@@ -102,7 +102,6 @@ private:
matrix::Vector3f _bias;
perf_counter_t _cycle_perf;
perf_counter_t _interval_perf;
perf_counter_t _sensor_latency_perf;
uint8_t _selected_sensor{0};
src/modules/sensors/vehicle_angular_velocity/CMakeLists.txt
+2 -2
View File
@@ -31,7 +31,7 @@
#
############################################################################
px4_add_library(sensors__vehicle_angular_velocity
px4_add_library(vehicle_angular_velocity
VehicleAngularVelocity.cpp
)
target_link_libraries(sensors__vehicle_angular_velocity PRIVATE px4_work_queue)
target_link_libraries(vehicle_angular_velocity PRIVATE px4_work_queue)
src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
+1 -5
View File
@@ -40,9 +40,8 @@ using namespace time_literals;
VehicleAngularVelocity::VehicleAngularVelocity() :
ModuleParams(nullptr),
WorkItem(px4::wq_configurations::rate_ctrl),
WorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
_cycle_perf(perf_alloc(PC_ELAPSED, "vehicle_angular_velocity: cycle time")),
_interval_perf(perf_alloc(PC_INTERVAL, "vehicle_angular_velocity: interval")),
_sensor_latency_perf(perf_alloc(PC_ELAPSED, "vehicle_angular_velocity: sensor latency"))
{
}
@@ -52,7 +51,6 @@ VehicleAngularVelocity::~VehicleAngularVelocity()
Stop();
perf_free(_cycle_perf);
perf_free(_interval_perf);
perf_free(_sensor_latency_perf);
}
@@ -217,7 +215,6 @@ void
VehicleAngularVelocity::Run()
{
perf_begin(_cycle_perf);
perf_count(_interval_perf);
// update corrections first to set _selected_sensor
SensorCorrectionsUpdate();
@@ -296,6 +293,5 @@ VehicleAngularVelocity::PrintStatus()
}
perf_print_counter(_cycle_perf);
perf_print_counter(_interval_perf);
perf_print_counter(_sensor_latency_perf);
}
src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp
-1
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@@ -110,7 +110,6 @@ private:
matrix::Vector3f _bias;
perf_counter_t _cycle_perf;
perf_counter_t _interval_perf;
perf_counter_t _sensor_latency_perf;
uint32_t _selected_sensor_device_id{0};
src/modules/vtol_att_control/vtol_att_control_main.cpp
+2 -6
View File
@@ -54,9 +54,8 @@
using namespace matrix;
VtolAttitudeControl::VtolAttitudeControl() :
WorkItem(px4::wq_configurations::rate_ctrl),
_loop_perf(perf_alloc(PC_ELAPSED, "vtol_att_control: cycle")),
_loop_interval_perf(perf_alloc(PC_INTERVAL, "vtol_att_control: interval"))
WorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
_loop_perf(perf_alloc(PC_ELAPSED, "vtol_att_control: cycle"))
{
_vtol_vehicle_status.vtol_in_rw_mode = true; /* start vtol in rotary wing mode*/
@@ -108,7 +107,6 @@ VtolAttitudeControl::VtolAttitudeControl() :
VtolAttitudeControl::~VtolAttitudeControl()
{
perf_free(_loop_perf);
perf_free(_loop_interval_perf);
}
bool
@@ -309,7 +307,6 @@ VtolAttitudeControl::Run()
}
perf_begin(_loop_perf);
perf_count(_loop_interval_perf);
const bool updated_fw_in = _actuator_inputs_fw.update(&_actuators_fw_in);
const bool updated_mc_in = _actuator_inputs_mc.update(&_actuators_mc_in);
@@ -513,7 +510,6 @@ VtolAttitudeControl::print_status()
PX4_INFO("Running");
perf_print_counter(_loop_perf);
perf_print_counter(_loop_interval_perf);
return PX4_OK;
}
src/modules/vtol_att_control/vtol_att_control_main.h
-1
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@@ -217,7 +217,6 @@ private:
bool _initialized{false};
perf_counter_t _loop_perf; /**< loop performance counter */
perf_counter_t _loop_interval_perf; /**< loop interval performance counter */
void vehicle_cmd_poll();