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load_mon: rename low_stack -> task_stack_info & always publish it

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- use uorb queue to not drop any info, only do 2 tasks per cycle
- also print a warning on low stack (which will be added to ulog)

this allows to gather statistics of each task's stack usage over time.
This commit is contained in:
Beat Küng
2017-02-03 18:22:24 +01:00
committed by Lorenz Meier
parent c02f1946eb
commit 5c2fa034da
5 changed files with 40 additions and 30 deletions
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src/modules/load_mon/load_mon.cpp
+25 -18
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@@ -57,10 +57,11 @@
#include <uORB/uORB.h>
#include <uORB/topics/cpuload.h>
#include <uORB/topics/low_stack.h>
#include <uORB/topics/task_stack_info.h>
extern struct system_load_s system_load;
#define STACK_LOW_WARNING_THRESHOLD 300 ///< if free stack space falls below this, print a warning
namespace load_mon
{
@@ -105,9 +106,9 @@ private:
/* Calculate stack usage */
void _stack_usage();
struct low_stack_s _low_stack;
struct task_stack_info_s _task_stack_info;
int _stack_task_index;
orb_advert_t _low_stack_pub;
orb_advert_t _task_stack_info_pub;
#endif
bool _taskShouldExit;
@@ -123,9 +124,9 @@ private:
LoadMon::LoadMon() :
#ifdef __PX4_NUTTX
_low_stack {},
_task_stack_info {},
_stack_task_index(0),
_low_stack_pub(nullptr),
_task_stack_info_pub(nullptr),
#endif
_taskShouldExit(false),
_taskIsRunning(false),
@@ -255,8 +256,10 @@ void LoadMon::_stack_usage()
{
int task_index = 0;
/* Scan maximum 3 tasks per cycle to reduce load. */
for (int i = _stack_task_index; i < _stack_task_index + 3; i++) {
/* Scan maximum num_tasks_per_cycle tasks to reduce load. */
const int num_tasks_per_cycle = 2;
for (int i = _stack_task_index; i < _stack_task_index + num_tasks_per_cycle; i++) {
task_index = i % CONFIG_MAX_TASKS;
unsigned stack_free = 0;
bool checked_task = false;
@@ -268,6 +271,8 @@ void LoadMon::_stack_usage()
stack_free = up_check_tcbstack_remain(system_load.tasks[task_index].tcb);
strncpy((char *)_task_stack_info.task_name, system_load.tasks[task_index].tcb->name,
task_stack_info_s::MAX_REPORT_TASK_NAME_LEN);
checked_task = true;
}
@@ -276,20 +281,22 @@ void LoadMon::_stack_usage()
perf_end(_stack_perf);
if (checked_task) {
_task_stack_info.stack_free = stack_free;
_task_stack_info.timestamp = hrt_absolute_time();
if (_task_stack_info_pub == nullptr) {
_task_stack_info_pub = orb_advertise_queue(ORB_ID(task_stack_info), &_task_stack_info, num_tasks_per_cycle);
} else {
orb_publish(ORB_ID(task_stack_info), _task_stack_info_pub, &_task_stack_info);
}
/*
* Found task low on stack, report and exit. Continue here in next cycle.
*/
if (stack_free < 300) {
strncpy((char *)_low_stack.task_name, system_load.tasks[task_index].tcb->name, low_stack_s::MAX_REPORT_TASK_NAME_LEN);
_low_stack.stack_free = stack_free;
if (_low_stack_pub == nullptr) {
_low_stack_pub = orb_advertise(ORB_ID(low_stack), &_low_stack);
} else {
orb_publish(ORB_ID(low_stack), _low_stack_pub, &_low_stack);
}
if (stack_free < STACK_LOW_WARNING_THRESHOLD) {
PX4_WARN("%s low on stack! (%i bytes left)", _task_stack_info.task_name, stack_free);
break;
}