load_mon: split out header

2026-11-10 09:31:37 +08:00 · 2020-07-16 15:11:53 -04:00
parent fd66d42906
commit 392eb123fc
3 changed files with 99 additions and 71 deletions
@@ -0,0 +1,95 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <drivers/drv_hrt.h>
+#include <lib/perf/perf_counter.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <systemlib/cpuload.h>
+#include <uORB/Publication.hpp>
+#include <uORB/topics/cpuload.h>
+#include <uORB/topics/task_stack_info.h>
+
+namespace load_mon
+{
+
+class LoadMon : public ModuleBase<LoadMon>, public ModuleParams, public px4::ScheduledWorkItem
+{
+public:
+	LoadMon();
+	~LoadMon() override;
+
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[])
+	{
+		return print_usage("unknown command");
+	}
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	void start();
+
+private:
+	/** Do a compute and schedule the next cycle. */
+	void Run() override;
+
+	/** Do a calculation of the CPU load and publish it. */
+	void cpuload();
+
+	/* Calculate stack usage */
+	void stack_usage();
+
+	int _stack_task_index{0};
+
+	uORB::PublicationQueued<task_stack_info_s> _task_stack_info_pub{ORB_ID(task_stack_info)};
+	uORB::Publication<cpuload_s> _cpuload_pub{ORB_ID(cpuload)};
+
+	hrt_abstime _last_idle_time{0};
+	hrt_abstime _last_idle_time_sample{0};
+
+	perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
+
+	DEFINE_PARAMETERS(
+		(ParamBool<px4::params::SYS_STCK_EN>) _param_sys_stck_en
+	)
+};
+
+} // namespace load_mon