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protocol_splitter: add perf counters for the stats so they can be logged

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TSC21 2021-07-16 16:41:46 +02:00 committed by Nuno Marques
parent 5a75277ff1
commit f557fbc99f
2 changed files with 75 additions and 13 deletions
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1
src/drivers/protocol_splitter/CMakeLists.txt
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@ -37,4 +37,3 @@ px4_add_module(
protocol_splitter.cpp
DEPENDS
)

87
src/drivers/protocol_splitter/protocol_splitter.cpp
View File

@ -46,6 +46,7 @@
#include <lib/cdev/CDev.hpp>
#include <px4_platform_common/sem.hpp>
#include <px4_platform_common/log.h>
#include <lib/perf/perf_counter.h>
#include <mathlib/mathlib.h>
#include <sys/ioctl.h>
@ -111,6 +112,15 @@ namespace
static StaticData *objects = nullptr;
}
// Perf counters
perf_counter_t bytes_received_count;
perf_counter_t header_bytes_received_count;
perf_counter_t bytes_lost_count;
perf_counter_t mavlink_messages_parsed_count;
perf_counter_t mavlink_bytes_parsed_count;
perf_counter_t rtps_messages_parsed_count;
perf_counter_t rtps_bytes_parsed_count;
class ReadBuffer
{
public:
@ -119,6 +129,7 @@ public:
void remove(size_t pos, size_t n);
void print_stats();
void update_lost_stats();
uint8_t buffer[1024] = {};
size_t buf_size = 0;
@ -133,6 +144,7 @@ public:
size_t mavlink_parsed = 0;
size_t rtps_parsed = 0;
size_t bytes_received = 0;
size_t bytes_lost = 0;
size_t header_bytes_received = 0;
// To keep track of readers.
@ -157,6 +169,11 @@ int ReadBuffer::read(int fd)
buf_size += r;
bytes_received += r;
// Update the lost/unused bytes count
update_lost_stats();
perf_set_count(bytes_received_count, bytes_received);
return r;
}
@ -179,6 +196,21 @@ void ReadBuffer::remove(size_t pos, size_t n)
buf_size -= n;
}
void ReadBuffer::update_lost_stats()
{
bytes_lost = bytes_received - mavlink_parsed - rtps_parsed - header_bytes_received;
if (end_mavlink > start_mavlink) {
bytes_lost -= end_mavlink - start_mavlink;
}
if (end_rtps > start_rtps) {
bytes_lost -= end_rtps - start_rtps;
}
perf_set_count(bytes_lost_count, bytes_lost);
}
void ReadBuffer::print_stats()
{
PX4_INFO_RAW("\tReceived:\n");
@ -200,18 +232,8 @@ void ReadBuffer::print_stats()
/ static_cast<float>(bytes_received - header_bytes_received)
* 100.f));
size_t lost = bytes_received - mavlink_parsed - rtps_parsed - header_bytes_received;
if (end_mavlink > start_mavlink) {
lost -= end_mavlink - start_mavlink;
}
if (end_rtps > start_rtps) {
lost -= end_rtps - start_rtps;
}
PX4_INFO_RAW("\tUnused: %9zu bytes (%5.1f %%)\n", lost,
static_cast<double>(static_cast<float>(lost)
PX4_INFO_RAW("\tUnused: %9zu bytes (%5.1f %%)\n", bytes_lost,
static_cast<double>(static_cast<float>(bytes_lost)
/ static_cast<float>(bytes_received)
* 100.f));
}
@ -363,6 +385,16 @@ int DevCommon::try_to_copy_data(char *buffer, size_t buflen, MessageType message
// Keep track for stats.
_read_buffer->mavlink_parsed += len_to_copy;
// Update the lost/unused bytes count
_read_buffer->update_lost_stats();
// Update the number of MAVLink bytes parsed
perf_set_count(mavlink_bytes_parsed_count, _read_buffer->mavlink_parsed);
// Update the number of MAVLink messages parsed
perf_count(mavlink_messages_parsed_count);
return len_to_copy;
} else {
@ -384,6 +416,16 @@ int DevCommon::try_to_copy_data(char *buffer, size_t buflen, MessageType message
// Keep track for stats.
_read_buffer->rtps_parsed += len_to_copy;
// Update the lost/unused bytes count
_read_buffer->update_lost_stats();
// Update the number of RTPS bytes parsed
perf_set_count(rtps_bytes_parsed_count, _read_buffer->rtps_parsed);
// Update the number of RTPS messages parsed
perf_count(rtps_messages_parsed_count);
return len_to_copy;
} else {
@ -482,6 +524,11 @@ void DevCommon::scan_for_packets()
break;
}
// Update the lost/unused bytes count
_read_buffer->update_lost_stats();
perf_set_count(header_bytes_received_count, _read_buffer->header_bytes_received);
i += payload_len;
}
@ -805,6 +852,14 @@ int protocol_splitter_main(int argc, char *argv[])
return -1;
}
bytes_received_count = perf_alloc(PC_COUNT, "protocol_splitter: bytes received");
bytes_lost_count = perf_alloc(PC_COUNT, "protocol_splitter: bytes unused/lost");
header_bytes_received_count = perf_alloc(PC_COUNT, "protocol_splitter: header bytes received");
mavlink_messages_parsed_count = perf_alloc(PC_COUNT, "protocol_splitter: MAVLink messages parsed");
mavlink_bytes_parsed_count = perf_alloc(PC_COUNT, "protocol_splitter: MAVLink messages bytes parsed");
rtps_messages_parsed_count = perf_alloc(PC_COUNT, "protocol_splitter: RTPS messages parsed");
rtps_bytes_parsed_count = perf_alloc(PC_COUNT, "protocol_splitter: RTPS messages bytes parsed");
strncpy(objects->device_name, argv[2], sizeof(objects->device_name));
sem_init(&objects->r_lock, 1, 1);
sem_init(&objects->w_lock, 1, 1);
@ -838,6 +893,14 @@ int protocol_splitter_main(int argc, char *argv[])
sem_destroy(&objects->w_lock);
delete objects;
objects = nullptr;
perf_free(bytes_received_count);
perf_free(header_bytes_received_count);
perf_free(bytes_lost_count);
perf_free(mavlink_messages_parsed_count);
perf_free(mavlink_bytes_parsed_count);
perf_free(rtps_messages_parsed_count);
perf_free(rtps_bytes_parsed_count);
}
}