From 2b8a9b632555708731d93f4aa7945d19e83d3134 Mon Sep 17 00:00:00 2001 From: Roman Bapst Date: Wed, 24 Sep 2014 10:29:28 +0200 Subject: [PATCH] Restored performance counter functionality, ROS package used own source file for function definitions but per_counter.h stays the same --- src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp | 6 +++--- src/lib/ecl/attitude_fw/ecl_pitch_controller.h | 5 ++--- src/lib/ecl/attitude_fw/ecl_roll_controller.cpp | 8 ++++---- src/lib/ecl/attitude_fw/ecl_roll_controller.h | 6 ++---- src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp | 8 ++++---- src/lib/ecl/attitude_fw/ecl_yaw_controller.h | 6 ++---- 6 files changed, 17 insertions(+), 22 deletions(-) diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp index b840206d58..8ee8b9c682 100644 --- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp @@ -69,13 +69,13 @@ ECL_PitchController::ECL_PitchController() : _rate_error(0.0f), _rate_setpoint(0.0f), _bodyrate_setpoint(0.0f) - //_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control pitch nonfinite input")) + _nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control pitch nonfinite input")) { } ECL_PitchController::~ECL_PitchController() { - //perf_free(_nonfinite_input_perf); + perf_free(_nonfinite_input_perf); } float ECL_PitchController::control_attitude(float pitch_setpoint, float roll, float pitch, float airspeed) @@ -145,7 +145,7 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch, if (!(isfinite(roll) && isfinite(pitch) && isfinite(pitch_rate) && isfinite(yaw_rate) && isfinite(yaw_rate_setpoint) && isfinite(airspeed_min) && isfinite(airspeed_max) && isfinite(scaler))) { - //perf_count(_nonfinite_input_perf); + perf_count(_nonfinite_input_perf); return math::constrain(_last_output, -1.0f, 1.0f); } diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.h b/src/lib/ecl/attitude_fw/ecl_pitch_controller.h index 973e15d987..39b9f9d03c 100644 --- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.h +++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.h @@ -51,9 +51,8 @@ #include #include -#ifdef CONFIG_ARM_ARCH #include -#endif + class __EXPORT ECL_PitchController //XXX: create controller superclass { public: @@ -130,7 +129,7 @@ private: float _rate_error; float _rate_setpoint; float _bodyrate_setpoint; - //perf_counter_t _nonfinite_input_perf; + perf_counter_t _nonfinite_input_perf; }; #endif // ECL_PITCH_CONTROLLER_H diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp index 1b9925f632..6707a11ba7 100644 --- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp @@ -67,20 +67,20 @@ ECL_RollController::ECL_RollController() : _rate_error(0.0f), _rate_setpoint(0.0f), _bodyrate_setpoint(0.0f), - //_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control roll nonfinite input")) + _nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control roll nonfinite input")), { } ECL_RollController::~ECL_RollController() { - //perf_free(_nonfinite_input_perf); + perf_free(_nonfinite_input_perf); } float ECL_RollController::control_attitude(float roll_setpoint, float roll) { /* Do not calculate control signal with bad inputs */ if (!(isfinite(roll_setpoint) && isfinite(roll))) { - //perf_count(_nonfinite_input_perf); + perf_count(_nonfinite_input_perf); return _rate_setpoint; } @@ -108,7 +108,7 @@ float ECL_RollController::control_bodyrate(float pitch, if (!(isfinite(pitch) && isfinite(roll_rate) && isfinite(yaw_rate) && isfinite(yaw_rate_setpoint) && isfinite(airspeed_min) && isfinite(airspeed_max) && isfinite(scaler))) { - //perf_count(_nonfinite_input_perf); + perf_count(_nonfinite_input_perf); return math::constrain(_last_output, -1.0f, 1.0f); } diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.h b/src/lib/ecl/attitude_fw/ecl_roll_controller.h index 84e6e9fe4f..dbcabd8478 100644 --- a/src/lib/ecl/attitude_fw/ecl_roll_controller.h +++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.h @@ -51,10 +51,8 @@ #include #include - -#ifdef CONIG_ARCH_ARM #include -#endif + class __EXPORT ECL_RollController //XXX: create controller superclass { @@ -123,7 +121,7 @@ private: float _rate_error; float _rate_setpoint; float _bodyrate_setpoint; - //perf_counter_t _nonfinite_input_perf; + perf_counter_t _nonfinite_input_perf; }; #endif // ECL_ROLL_CONTROLLER_H diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp index 5b023fa8f3..7ff8641756 100644 --- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp @@ -66,13 +66,13 @@ ECL_YawController::ECL_YawController() : _rate_setpoint(0.0f), _bodyrate_setpoint(0.0f), _coordinated_min_speed(1.0f), - //_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control yaw nonfinite input")) + _nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control yaw nonfinite input")) { } ECL_YawController::~ECL_YawController() { - //perf_free(_nonfinite_input_perf); + perf_free(_nonfinite_input_perf); } float ECL_YawController::control_attitude(float roll, float pitch, @@ -83,7 +83,7 @@ float ECL_YawController::control_attitude(float roll, float pitch, if (!(isfinite(roll) && isfinite(pitch) && isfinite(speed_body_u) && isfinite(speed_body_v) && isfinite(speed_body_w) && isfinite(roll_rate_setpoint) && isfinite(pitch_rate_setpoint))) { - //perf_count(_nonfinite_input_perf); + perf_count(_nonfinite_input_perf); return _rate_setpoint; } // static int counter = 0; @@ -127,7 +127,7 @@ float ECL_YawController::control_bodyrate(float roll, float pitch, if (!(isfinite(roll) && isfinite(pitch) && isfinite(pitch_rate) && isfinite(yaw_rate) && isfinite(pitch_rate_setpoint) && isfinite(airspeed_min) && isfinite(airspeed_max) && isfinite(scaler))) { - //perf_count(_nonfinite_input_perf); + perf_count(_nonfinite_input_perf); return math::constrain(_last_output, -1.0f, 1.0f); } /* get the usual dt estimate */ diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h index 61657e95be..c9e80930f3 100644 --- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h +++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h @@ -50,10 +50,8 @@ #include #include - -#ifdef CONFIG_ARCH_ARM #include -#endif + class __EXPORT ECL_YawController //XXX: create controller superclass { @@ -124,7 +122,7 @@ private: float _rate_setpoint; float _bodyrate_setpoint; float _coordinated_min_speed; - //perf_counter_t _nonfinite_input_perf; + perf_counter_t _nonfinite_input_perf; };