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logger: fixed watchdog not logging, increased cycle trigger (#23769)

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Alexander Lerach 2024-10-08 09:53:55 +02:00 committed by GitHub
parent fd04ece6d4
commit 936eb89edb
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GPG Key ID: B5690EEEBB952194
3 changed files with 19 additions and 4 deletions
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13
src/modules/logger/logger.cpp
View File

@ -1615,6 +1615,11 @@ void Logger::initialize_load_output(PrintLoadReason reason)
{
// If already in progress, don't try to start again
if (_next_load_print != 0) {
// To never miss watchdog triggers due to load measuring in progress, overwrite the measurement reason
if (reason == PrintLoadReason::Watchdog) {
_print_load_reason = reason;
}
return;
}
@ -1635,7 +1640,13 @@ void Logger::write_load_output()
_writer.set_need_reliable_transfer(true, _print_load_reason != PrintLoadReason::Watchdog);
if (_print_load_reason == PrintLoadReason::Watchdog) {
PX4_ERR("Writing watchdog data"); // this is just that we see it easily in the log
// This is just that we see it easily in the log
PX4_ERR("Writing watchdog data...");
#ifdef __PX4_NUTTX
bool cycle_trigger = _timer_callback_data.watchdog_data.triggered_by_cycle_delay;
bool ready_trigger = _timer_callback_data.watchdog_data.triggered_by_ready_delay;
PX4_ERR("Watchdog triggers - cycle trigger: %d, ready trigger: %d", cycle_trigger, ready_trigger);
#endif
write_perf_data(PrintLoadReason::Watchdog);
}

8
src/modules/logger/watchdog.cpp
View File

@ -129,10 +129,10 @@ bool watchdog_update(watchdog_data_t &watchdog_data, bool semaphore_value_satura
watchdog_data.sem_counter_saturated_start = now;
}
if (watchdog_data.manual_watchdog_trigger
|| now > watchdog_data.sem_counter_saturated_start + 3_s
|| now > watchdog_data.ready_to_run_timestamp + 1_s) {
bool cycle_trigger = now > watchdog_data.sem_counter_saturated_start + 5_s;
bool ready_trigger = now > watchdog_data.ready_to_run_timestamp + 1_s;
if (watchdog_data.manual_watchdog_trigger || cycle_trigger || ready_trigger) {
sched_param param{};
// Get the current priorities
@ -153,6 +153,8 @@ bool watchdog_update(watchdog_data_t &watchdog_data, bool semaphore_value_satura
sched_setparam(log_writer_task.tcb->pid, &param);
watchdog_data.triggered_by_cycle_delay = cycle_trigger;
watchdog_data.triggered_by_ready_delay = ready_trigger;
watchdog_data.trigger_time = now;
return true;
}

2
src/modules/logger/watchdog.h
View File

@ -56,6 +56,8 @@ struct watchdog_data_t {
int logger_main_priority = 0;
hrt_abstime trigger_time = 0; ///< timestamp when it was triggered
bool manual_watchdog_trigger = false;
bool triggered_by_cycle_delay = false;
bool triggered_by_ready_delay = false;
#endif /* __PX4_NUTTX */
};