load_mon: initial commit

msg/cpuload.msg

@@ -0,0 +1,2 @@
+uint64 timestamp                # in microseconds since system start, is set whenever the writing thread stores new data
+float32 load                    # processor load from 0 to 1

src/modules/load_mon/CMakeLists.txt

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2015 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.
+#
+############################################################################
+px4_add_module(
+	MODULE modules__load_mon
+	MAIN load_mon
+	STACK 1200
+	SRCS
+		load_mon.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/modules/load_mon/load_mon.cpp

@@ -0,0 +1,174 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2016 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file load_mon.c
+ *
+ * @author Jonathan Challinger <jonathan@3drobotics.com>
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+
+#include <poll.h>
+
+#include <px4_config.h>
+
+#include <drivers/drv_hrt.h>
+
+#include <systemlib/systemlib.h>
+#include <systemlib/err.h>
+#include <systemlib/cpuload.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/cpuload.h>
+
+#define LOAD_MON_INTERVAL_SEC 1.0f
+#define LOAD_MON_INTERVAL_US (LOAD_MON_INTERVAL_SEC*1.0e6f)
+
+extern "C" __EXPORT int load_mon_main(int argc, char *argv[]);
+int load_mon_thread(int argc, char *argv[]);
+
+static const char *module_name = "load_mon";
+static bool thread_should_exit = false;		/**< daemon exit flag */
+static bool thread_running = false;		/**< daemon status flag */
+static int daemon_task;				/**< Handle of daemon task / thread */
+
+
+extern struct system_load_s system_load;
+struct cpuload_s cpuload;
+static orb_advert_t cpuload_publish_handle = nullptr;
+
+/**
+ * Mainloop of load_mon.
+ */
+int load_mon_thread(int argc, char *argv[])
+{
+	warnx("[%s] starting\n", module_name);
+	thread_running = true;
+
+	hrt_abstime last_idle_time = system_load.tasks[0].total_runtime;
+
+	while (!thread_should_exit) {
+		usleep(LOAD_MON_INTERVAL_US);
+
+		/* compute system load */
+		uint64_t interval_idletime = system_load.tasks[0].total_runtime - last_idle_time;
+		last_idle_time = system_load.tasks[0].total_runtime;
+
+		cpuload.timestamp = hrt_absolute_time();
+		cpuload.load = 1.0f - (float)interval_idletime / LOAD_MON_INTERVAL_US;
+
+		if (cpuload_publish_handle == nullptr) {
+			cpuload_publish_handle = orb_advertise(ORB_ID(cpuload), &cpuload);
+		} else {
+			orb_publish(ORB_ID(cpuload), cpuload_publish_handle, &cpuload);
+		}
+	}
+
+	warnx("[%s] exiting.\n", module_name);
+
+	thread_running = false;
+
+	return 0;
+}
+
+/**
+ * Print the correct usage.
+ */
+static void usage(const char *reason);
+
+static void
+usage(const char *reason)
+{
+	if (reason) {
+		warnx("%s\n", reason);
+	}
+
+	warnx("usage: %s {start|stop|status} [-p <additional params>]\n\n", module_name);
+}
+
+/**
+ * The daemon app only briefly exists to start
+ * the background job. The stack size assigned in the
+ * Makefile does only apply to this management task.
+ *
+ * The actual stack size should be set in the call
+ * to task_create().
+ */
+int load_mon_main(int argc, char *argv[])
+{
+	if (argc < 2) {
+		usage("missing command");
+		return 1;
+	}
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (thread_running) {
+			warnx("daemon already running\n");
+			/* this is not an error */
+			return 0;
+		}
+
+		thread_should_exit = false;
+		daemon_task = px4_task_spawn_cmd(module_name,
+						 SCHED_DEFAULT,
+						 SCHED_PRIORITY_DEFAULT,
+						 2000,
+						 load_mon_thread,
+						 (argv) ? (char *const *)&argv[2] : (char *const *)NULL);
+		return 0;
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		thread_should_exit = true;
+		return 0;
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (thread_running) {
+			warnx("\trunning\n");
+		} else {
+			warnx("\tnot started\n");
+		}
+
+		return 0;
+	}
+
+	usage("unrecognized command");
+	return 1;
+}
+

src/modules/uORB/objects_common.cpp

@@ -300,3 +300,6 @@ ORB_DEFINE(gps_inject_data, struct gps_inject_data_s);
 
 #include "topics/adc_report.h"
 ORB_DEFINE(adc_report, struct adc_report_s);
+
+#include "topics/cpuload.h"
+ORB_DEFINE(cpuload, struct cpuload_s);