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param add status

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Daniel Agar
2019-01-12 14:47:58 -05:00
parent 84724d5e1d
commit 658d734068
4 changed files with 87 additions and 8 deletions
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src/lib/parameters/parameters.cpp
+42 -8
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@@ -50,15 +50,16 @@
#include <math.h>
#include <drivers/drv_hrt.h>
#include <lib/perf/perf_counter.h>
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_posix.h>
#include <px4_sem.h>
#include <px4_shutdown.h>
#include <perf/perf_counter.h>
#include <systemlib/uthash/utarray.h>
using namespace time_literals;
//#define PARAM_NO_ORB ///< if defined, avoid uorb dependency. This disables publication of parameter_update on param change
//#define PARAM_NO_AUTOSAVE ///< if defined, do not autosave (avoids LP work queue dependency)
@@ -91,8 +92,8 @@ static char *param_user_file = nullptr;
#include <px4_workqueue.h>
/* autosaving variables */
static hrt_abstime last_autosave_timestamp = 0;
static struct work_s autosave_work;
static bool autosave_scheduled = false;
static struct work_s autosave_work {};
static volatile bool autosave_scheduled = false;
static bool autosave_disabled = false;
#endif /* PARAM_NO_AUTOSAVE */
@@ -627,7 +628,7 @@ autosave_worker(void *arg)
int ret = param_save_default();
if (ret != 0) {
PX4_ERR("param save failed (%i)", ret);
PX4_ERR("param auto save failed (%i)", ret);
}
}
#endif /* PARAM_NO_AUTOSAVE */
@@ -651,10 +652,10 @@ param_autosave()
// - tasks often call param_set() for multiple params, so this avoids unnecessary save calls
// - the logger stores changed params. He gets notified on a param change via uORB and then
// looks at all unsaved params.
hrt_abstime delay = 300 * 1000;
hrt_abstime delay = 300_ms;
const hrt_abstime rate_limit = 2000 * 1000; // rate-limit saving to 2 seconds
hrt_abstime last_save_elapsed = hrt_elapsed_time(&last_autosave_timestamp);
static constexpr const hrt_abstime rate_limit = 2_s; // rate-limit saving to 2 seconds
const hrt_abstime last_save_elapsed = hrt_elapsed_time(&last_autosave_timestamp);
if (last_save_elapsed < rate_limit && rate_limit > last_save_elapsed + delay) {
delay = rate_limit - last_save_elapsed;
@@ -1371,3 +1372,36 @@ uint32_t param_hash_check()
return param_hash;
}
void param_print_status()
{
PX4_INFO("summary: %d/%d (used/total)", param_count_used(), param_count());
#ifndef FLASH_BASED_PARAMS
const char *filename = param_get_default_file();
if (filename != nullptr) {
PX4_INFO("file: %s", param_get_default_file());
}
#endif /* FLASH_BASED_PARAMS */
if (param_values != nullptr) {
PX4_INFO("storage array: %d/%d elements (%zu bytes total)",
utarray_len(param_values), param_values->n, param_values->n * sizeof(UT_icd));
}
#ifndef PARAM_NO_AUTOSAVE
PX4_INFO("auto save: %s", autosave_disabled ? "off" : "on");
if (!autosave_disabled && (last_autosave_timestamp > 0)) {
PX4_INFO("last auto save: %.3f seconds ago", hrt_elapsed_time(&last_autosave_timestamp) * 1e-6);
}
#endif /* PARAM_NO_AUTOSAVE */
perf_print_counter(param_export_perf);
perf_print_counter(param_find_perf);
perf_print_counter(param_get_perf);
perf_print_counter(param_set_perf);
}