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UAVCAN ESC perf counters

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This commit is contained in:
Pavel Kirienko 2014-07-07 02:10:09 +04:00
parent 1492323f03
commit 324322cb29
2 changed files with 30 additions and 6 deletions
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28
src/modules/uavcan/esc_controller.cpp
View File

@ -48,6 +48,12 @@ UavcanEscController::UavcanEscController(uavcan::INode &node) :
{
}
UavcanEscController::~UavcanEscController()
{
perf_free(_perfcnt_invalid_input);
perf_free(_perfcnt_scaling_error);
}
int UavcanEscController::init()
{
// ESC status subscription
@ -67,8 +73,10 @@ int UavcanEscController::init()
void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
{
assert(outputs != nullptr);
assert(num_outputs <= MAX_ESCS);
if ((outputs == nullptr) || (num_outputs > MAX_ESCS)) {
perf_count(_perfcnt_invalid_input);
return;
}
/*
* Rate limiting - we don't want to congest the bus
@ -89,13 +97,21 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
for (unsigned i = 0; i < num_outputs; i++) {
float scaled = (outputs[i] + 1.0F) * 0.5F * uavcan::equipment::esc::RawCommand::CMD_MAX;
if (scaled < 1.0F)
if (scaled < 1.0F) {
scaled = 1.0F; // Since we're armed, we don't want to stop it completely
}
assert(scaled >= uavcan::equipment::esc::RawCommand::CMD_MIN);
assert(scaled <= uavcan::equipment::esc::RawCommand::CMD_MAX);
if (scaled < uavcan::equipment::esc::RawCommand::CMD_MIN) {
scaled = uavcan::equipment::esc::RawCommand::CMD_MIN;
perf_count(_perfcnt_scaling_error);
} else if (scaled > uavcan::equipment::esc::RawCommand::CMD_MAX) {
scaled = uavcan::equipment::esc::RawCommand::CMD_MAX;
perf_count(_perfcnt_scaling_error);
} else {
; // Correct value
}
msg.cmd.push_back(scaled);
msg.cmd.push_back(static_cast<unsigned>(scaled));
}
}

8
src/modules/uavcan/esc_controller.hpp
View File

@ -47,11 +47,13 @@
#include <uavcan/uavcan.hpp>
#include <uavcan/equipment/esc/RawCommand.hpp>
#include <uavcan/equipment/esc/Status.hpp>
#include <systemlib/perf_counter.h>
class UavcanEscController
{
public:
UavcanEscController(uavcan::INode& node);
~UavcanEscController();
int init();
@ -96,4 +98,10 @@ private:
*/
bool _armed = false;
uavcan::equipment::esc::Status _states[MAX_ESCS];
/*
* Perf counters
*/
perf_counter_t _perfcnt_invalid_input = perf_alloc(PC_COUNT, "uavcan_esc_invalid_input");
perf_counter_t _perfcnt_scaling_error = perf_alloc(PC_COUNT, "uavcan_esc_scaling_error");
};