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Added backtrace function

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Added PX4_BACKTRACE() to display stack trace for debugging

Added backtrace for HRT reschedule with 0 timeout

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois 2015-10-16 12:42:26 -07:00 committed by Lorenz Meier
parent cbbb6a0e59
commit 8e82ced5a4
4 changed files with 28 additions and 0 deletions
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1
src/platforms/posix/px4_layer/drv_hrt.c
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@ -367,6 +367,7 @@ hrt_call_internal(struct hrt_call *entry, hrt_abstime deadline, hrt_abstime inte
// Use this to debug busy CPU that keeps rescheduling with 0 period time
if (interval < HRT_INTERVAL_MIN) {
PX4_ERR("hrt_call_internal interval too short: %" PRIu64, interval);
PX4_BACKTRACE();
}
#endif

21
src/platforms/posix/px4_layer/px4_log.c
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@ -1,5 +1,26 @@
#include <stdlib.h>
#include <px4_log.h>
#include <execinfo.h>
__EXPORT int __px4_log_level_current = PX4_LOG_LEVEL_AT_RUN_TIME;
__EXPORT const char *__px4_log_level_str[_PX4_LOG_LEVEL_PANIC+1] = { "INFO", "DEBUG", "WARN", "ERROR", "PANIC" };
void px4_backtrace()
{
void *buffer[10];
char **callstack;
int bt_size;
int idx;
bt_size = backtrace(buffer, 10);
callstack = backtrace_symbols(buffer, bt_size);
PX4_INFO("Backtrace:", bt_size);
for(idx=0; idx < bt_size; idx++)
PX4_INFO("%s", callstack[idx]);
free(callstack);
}

1
src/platforms/posix/work_queue/hrt_thread.c
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@ -165,6 +165,7 @@ static void hrt_work_process()
if (!worker) {
PX4_ERR("MESSED UP: worker = 0");
PX4_BACKTRACE();
} else {
worker(arg);

5
src/platforms/px4_log.h
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@ -64,6 +64,7 @@ static inline void do_nothing(int level, ...)
#define PX4_WARN(...) ROS_WARN(__VA_ARGS__)
#define PX4_INFO(...) ROS_WARN(__VA_ARGS__)
#define PX4_DEBUG(...)
#define PX4_BACKTRACE()
#elif defined(__PX4_QURT)
#include "qurt_log.h"
@ -72,6 +73,7 @@ static inline void do_nothing(int level, ...)
****************************************************************************/
#define PX4_LOG(FMT, ...) qurt_log(_PX4_LOG_LEVEL_ALWAYS, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_INFO(FMT, ...) qurt_log(_PX4_LOG_LEVEL_ALWAYS, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_BACKTRACE()
#if defined(TRACE_BUILD)
/****************************************************************************
@ -127,8 +129,11 @@ __EXPORT extern uint64_t hrt_absolute_time(void);
__EXPORT extern const char *__px4_log_level_str[5];
__EXPORT extern int __px4_log_level_current;
__EXPORT extern void px4_backtrace(void);
__END_DECLS
#define PX4_BACKTRACE() px4_backtrace()
// __px4_log_level_current will be initialized to PX4_LOG_LEVEL_AT_RUN_TIME
#define PX4_LOG_LEVEL_AT_RUN_TIME _PX4_LOG_LEVEL_ERROR