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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/sdlog2/sdlog2.c
+8 -7
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@@ -111,7 +111,7 @@
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/commander_state.h>
#include <uORB/topics/cpuload.h>
#include <uORB/topics/low_stack.h>
#include <uORB/topics/task_stack_info.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
@@ -1214,7 +1214,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct vehicle_land_detected_s land_detected;
struct cpuload_s cpuload;
struct vehicle_gps_position_s dual_gps_pos;
struct low_stack_s low_stack;
struct task_stack_info_s task_stack_info;
} buf;
memset(&buf, 0, sizeof(buf));
@@ -1328,7 +1328,7 @@ int sdlog2_thread_main(int argc, char *argv[])
int commander_state_sub;
int cpuload_sub;
int diff_pres_sub;
int low_stack_sub;
int task_stack_info_sub;
} subs;
subs.cmd_sub = -1;
@@ -1372,7 +1372,7 @@ int sdlog2_thread_main(int argc, char *argv[])
subs.commander_state_sub = -1;
subs.cpuload_sub = -1;
subs.diff_pres_sub = -1;
subs.low_stack_sub = -1;
subs.task_stack_info_sub = -1;
/* add new topics HERE */
@@ -2318,10 +2318,11 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- STACK --- */
if (copy_if_updated(ORB_ID(low_stack), &subs.low_stack_sub, &buf.low_stack)) {
if (copy_if_updated(ORB_ID(task_stack_info), &subs.task_stack_info_sub, &buf.task_stack_info)) {
log_msg.msg_type = LOG_STCK_MSG;
log_msg.body.log_STCK.stack_free = buf.low_stack.stack_free;
strncpy(log_msg.body.log_STCK.task_name, (char*)buf.low_stack.task_name, sizeof(log_msg.body.log_STCK.task_name));
log_msg.body.log_STCK.stack_free = buf.task_stack_info.stack_free;
strncpy(log_msg.body.log_STCK.task_name, (char*)buf.task_stack_info.task_name,
sizeof(log_msg.body.log_STCK.task_name));
LOGBUFFER_WRITE_AND_COUNT(STCK);
}