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load_mon: split out header
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Daniel Agar
@@ -0,0 +1,227 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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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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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "LoadMon.hpp"
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// if free stack space falls below this, print a warning
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#if defined(CONFIG_ARMV7M_STACKCHECK)
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static constexpr unsigned STACK_LOW_WARNING_THRESHOLD = 100;
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#else
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static constexpr unsigned STACK_LOW_WARNING_THRESHOLD = 300;
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#endif
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static constexpr unsigned FDS_LOW_WARNING_THRESHOLD = 2; ///< if free file descriptors fall below this, print a warning
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using namespace time_literals;
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namespace load_mon
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{
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LoadMon::LoadMon() :
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ModuleParams(nullptr),
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ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
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{
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}
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LoadMon::~LoadMon()
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{
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ScheduleClear();
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perf_free(_cycle_perf);
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}
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int LoadMon::task_spawn(int argc, char *argv[])
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{
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LoadMon *obj = new LoadMon();
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if (!obj) {
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PX4_ERR("alloc failed");
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return -1;
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}
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_object.store(obj);
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_task_id = task_id_is_work_queue;
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/* Schedule a cycle to start things. */
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obj->start();
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return 0;
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}
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void LoadMon::start()
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{
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ScheduleOnInterval(300_ms);
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}
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void LoadMon::Run()
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{
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perf_begin(_cycle_perf);
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cpuload();
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if (_param_sys_stck_en.get()) {
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stack_usage();
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}
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if (should_exit()) {
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ScheduleClear();
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exit_and_cleanup();
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}
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perf_end(_cycle_perf);
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}
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void LoadMon::cpuload()
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{
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if (_last_idle_time == 0) {
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// Just get the time in the first iteration */
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_last_idle_time = system_load.tasks[0].total_runtime;
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_last_idle_time_sample = hrt_absolute_time();
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return;
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}
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irqstate_t irqstate = enter_critical_section();
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const hrt_abstime now = hrt_absolute_time();
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const hrt_abstime total_runtime = system_load.tasks[0].total_runtime;
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leave_critical_section(irqstate);
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// compute system load
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const float interval = now - _last_idle_time_sample;
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const float interval_idletime = total_runtime - _last_idle_time;
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// get ram usage
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struct mallinfo mem = mallinfo();
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float ram_usage = (float)mem.uordblks / mem.arena;
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cpuload_s cpuload{};
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cpuload.load = 1.f - interval_idletime / interval;
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cpuload.ram_usage = ram_usage;
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cpuload.timestamp = hrt_absolute_time();
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_cpuload_pub.publish(cpuload);
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// store for next iteration
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_last_idle_time = total_runtime;
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_last_idle_time_sample = now;
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}
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void LoadMon::stack_usage()
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{
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unsigned stack_free = 0;
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unsigned fds_free = FDS_LOW_WARNING_THRESHOLD + 1;
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bool checked_task = false;
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task_stack_info_s task_stack_info{};
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static_assert(sizeof(task_stack_info.task_name) == CONFIG_TASK_NAME_SIZE,
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"task_stack_info.task_name must match NuttX CONFIG_TASK_NAME_SIZE");
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sched_lock();
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if (system_load.tasks[_stack_task_index].valid && (system_load.tasks[_stack_task_index].tcb->pid > 0)) {
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stack_free = up_check_tcbstack_remain(system_load.tasks[_stack_task_index].tcb);
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strncpy((char *)task_stack_info.task_name, system_load.tasks[_stack_task_index].tcb->name, CONFIG_TASK_NAME_SIZE - 1);
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task_stack_info.task_name[CONFIG_TASK_NAME_SIZE - 1] = '\0';
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checked_task = true;
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#if CONFIG_NFILE_DESCRIPTORS > 0
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FAR struct task_group_s *group = system_load.tasks[_stack_task_index].tcb->group;
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unsigned tcb_num_used_fds = 0;
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if (group) {
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for (int fd_index = 0; fd_index < CONFIG_NFILE_DESCRIPTORS; ++fd_index) {
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if (group->tg_filelist.fl_files[fd_index].f_inode) {
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++tcb_num_used_fds;
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}
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}
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fds_free = CONFIG_NFILE_DESCRIPTORS - tcb_num_used_fds;
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}
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#endif // CONFIG_NFILE_DESCRIPTORS
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}
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sched_unlock();
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if (checked_task) {
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task_stack_info.stack_free = stack_free;
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task_stack_info.timestamp = hrt_absolute_time();
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_task_stack_info_pub.publish(task_stack_info);
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// Found task low on stack, report and exit. Continue here in next cycle.
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if (stack_free < STACK_LOW_WARNING_THRESHOLD) {
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PX4_WARN("%s low on stack! (%i bytes left)", task_stack_info.task_name, stack_free);
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}
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// Found task low on file descriptors, report and exit. Continue here in next cycle.
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if (fds_free < FDS_LOW_WARNING_THRESHOLD) {
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PX4_WARN("%s low on FDs! (%i FDs left)", task_stack_info.task_name, fds_free);
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}
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}
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// Continue after last checked task next cycle
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_stack_task_index = (_stack_task_index + 1) % CONFIG_MAX_TASKS;
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}
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int LoadMon::print_usage(const char *reason)
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{
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if (reason) {
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PX4_ERR("%s\n", reason);
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}
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PRINT_MODULE_DESCRIPTION(
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R"DESCR_STR(
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### Description
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Background process running periodically with 1 Hz on the low priority work queue to calculate the CPU load and RAM
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usage and publish the `cpuload` topic.
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On NuttX it also checks the stack usage of each process and if it falls below 300 bytes, a warning is output,
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which will also appear in the log file.
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)DESCR_STR");
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PRINT_MODULE_USAGE_NAME("load_mon", "system");
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PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start the background task");
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PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
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return 0;
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}
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extern "C" __EXPORT int load_mon_main(int argc, char *argv[])
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{
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return LoadMon::main(argc, argv);
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}
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} // namespace load_mon
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