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load_mon: add linux support

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This commit is contained in:
SalimTerryLi
2020-08-11 18:33:44 -04:00
committed by GitHub
parent 329ed6e273
commit 49e83b6ae4
12 changed files with 67 additions and 6 deletions
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src/modules/load_mon/LoadMon.hpp
+16 -2
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@@ -45,6 +45,11 @@
#include <uORB/topics/cpuload.h>
#include <uORB/topics/task_stack_info.h>
#if defined(__PX4_LINUX)
#include <sys/times.h>
#include <malloc.h>
#endif
namespace load_mon
{
@@ -74,16 +79,25 @@ private:
/** Do a calculation of the CPU load and publish it. */
void cpuload();
/* Stack check only available on Nuttx */
#if defined(__PX4_NUTTX)
/* 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)};
#endif
uORB::Publication<cpuload_s> _cpuload_pub {ORB_ID(cpuload)};
hrt_abstime _last_idle_time{0};
#if defined(__PX4_LINUX)
/* calculate usage directly from clock ticks on Linux */
clock_t _last_total_time_stamp{};
clock_t _last_spent_time_stamp{};
#elif defined(__PX4_NUTTX)
hrt_abstime _last_idle_time {0};
hrt_abstime _last_idle_time_sample{0};
#endif
perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};