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px4_work_queue: minor status changes

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- only record start time on first run rather than init
 - increase name length
 - round average interval to nearest microsecond
 - basic formatting consistency (google style guide)
This commit is contained in:
Daniel Agar
2020-05-19 12:49:42 -04:00
parent dd9c82eb20
commit 8ee0a5d328
6 changed files with 49 additions and 67 deletions
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platforms/common/px4_work_queue/WorkItem.cpp
+16 -24
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@@ -57,7 +57,6 @@ WorkItem::WorkItem(const char *name, const WorkItem &work_item) :
if ((wq != nullptr) && wq->Attach(this)) {
_wq = wq;
_start_time = hrt_absolute_time();
}
}
@@ -66,8 +65,7 @@ WorkItem::~WorkItem()
Deinit();
}
bool
WorkItem::Init(const wq_config_t &config)
bool WorkItem::Init(const wq_config_t &config)
{
// clear any existing first
Deinit();
@@ -76,7 +74,7 @@ WorkItem::Init(const wq_config_t &config)
if ((wq != nullptr) && wq->Attach(this)) {
_wq = wq;
_start_time = hrt_absolute_time();
_time_first_run = 0;
return true;
}
@@ -84,8 +82,7 @@ WorkItem::Init(const wq_config_t &config)
return false;
}
void
WorkItem::Deinit()
void WorkItem::Deinit()
{
// remove any currently queued work
if (_wq != nullptr) {
@@ -100,49 +97,44 @@ WorkItem::Deinit()
}
}
void
WorkItem::ScheduleClear()
void WorkItem::ScheduleClear()
{
if (_wq != nullptr) {
_wq->Remove(this);
}
}
float
WorkItem::elapsed_time() const
float WorkItem::elapsed_time() const
{
return hrt_elapsed_time(&_start_time) / 1e6f;
return hrt_elapsed_time(&_time_first_run) / 1e6f;
}
float
WorkItem::average_rate() const
float WorkItem::average_rate() const
{
const float rate = _run_count / elapsed_time();
if ((_run_count > 0) && PX4_ISFINITE(rate)) {
if ((_run_count > 1) && PX4_ISFINITE(rate)) {
return rate;
}
return 0.0f;
return 0.f;
}
float
WorkItem::average_interval() const
float WorkItem::average_interval() const
{
const float rate = average_rate();
const float interval = 1000000.0f / rate;
const float interval = 1e6f / rate;
if ((rate > 0.0f) && PX4_ISFINITE(interval)) {
return interval;
if ((rate > FLT_EPSILON) && PX4_ISFINITE(interval)) {
return roundf(interval);
}
return 0.0f;
return 0.f;
}
void
WorkItem::print_run_status() const
void WorkItem::print_run_status() const
{
PX4_INFO_RAW("%-24s %8.1f Hz %12.1f us\n", _item_name, (double)average_rate(), (double)average_interval());
PX4_INFO_RAW("%-26s %8.1f Hz %12.0f us\n", _item_name, (double)average_rate(), (double)average_interval());
}
} // namespace px4