PX4-Autopilot/src/modules/systemlib/cpuload.c

/****************************************************************************
 *
 *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 *   Author: Lorenz Meier <lm@inf.ethz.ch>
 * 	     Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
 *
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/**
 * @file cpuload.c
 *
 * Measurement of CPU load of each individual task.
 *
 * @author Lorenz Meier <lm@inf.ethz.ch>
 * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
 */
#include <nuttx/config.h>
#include <nuttx/sched.h>

#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>

#include <arch/arch.h>

#include <debug.h>

#include <sys/time.h>

#include <arch/board/board.h>
#include <drivers/drv_hrt.h>

#include "cpuload.h"

#ifdef CONFIG_SCHED_INSTRUMENTATION

__EXPORT void sched_note_start(FAR struct tcb_s *tcb);
__EXPORT void sched_note_stop(FAR struct tcb_s *tcb);
__EXPORT void sched_note_switch(FAR struct tcb_s *pFromTcb, FAR struct tcb_s *pToTcb);

__EXPORT struct system_load_s system_load;

extern FAR struct tcb_s *sched_gettcb(pid_t pid);

void cpuload_initialize_once()
{
	system_load.start_time = hrt_absolute_time();
	int i;

	for (i = 0; i < CONFIG_MAX_TASKS; i++) {
		system_load.tasks[i].valid = false;
	}

	uint64_t now = hrt_absolute_time();

	int static_tasks_count = 2;	// there are at least 2 threads that should be initialized statically - "idle" and "init"

#ifdef CONFIG_PAGING
	static_tasks_count++;	// include paging thread in initialization
#endif /* CONFIG_PAGING */
#if CONFIG_SCHED_WORKQUEUE
	static_tasks_count++;	// include high priority work0 thread in initialization
#endif /* CONFIG_SCHED_WORKQUEUE */
#if CONFIG_SCHED_LPWORK
	static_tasks_count++;	// include low priority work1 thread in initialization
#endif /* CONFIG_SCHED_WORKQUEUE */

	// perform static initialization of "system" threads
	for (system_load.total_count = 0; system_load.total_count < static_tasks_count; system_load.total_count++) {
		system_load.tasks[system_load.total_count].start_time = now;
		system_load.tasks[system_load.total_count].total_runtime = 0;
		system_load.tasks[system_load.total_count].curr_start_time = 0;
		system_load.tasks[system_load.total_count].tcb = sched_gettcb(system_load.total_count);	// it is assumed that these static threads have consecutive PIDs
		system_load.tasks[system_load.total_count].valid = true;
	}
}

void sched_note_start(FAR struct tcb_s *tcb)
{
	/* search first free slot */
	int i;

	for (i = 1; i < CONFIG_MAX_TASKS; i++) {
		if (!system_load.tasks[i].valid) {
			/* slot is available */
			system_load.tasks[i].start_time = hrt_absolute_time();
			system_load.tasks[i].total_runtime = 0;
			system_load.tasks[i].curr_start_time = 0;
			system_load.tasks[i].tcb = tcb;
			system_load.tasks[i].valid = true;
			system_load.total_count++;
			break;
		}
	}
}

void sched_note_stop(FAR struct tcb_s *tcb)
{
	int i;

	for (i = 1; i < CONFIG_MAX_TASKS; i++) {
		if (system_load.tasks[i].tcb->pid == tcb->pid) {
			/* mark slot as fee */
			system_load.tasks[i].valid = false;
			system_load.tasks[i].total_runtime = 0;
			system_load.tasks[i].curr_start_time = 0;
			system_load.tasks[i].tcb = NULL;
			system_load.total_count--;
			break;
		}
	}
}

void sched_note_switch(FAR struct tcb_s *pFromTcb, FAR struct tcb_s *pToTcb)
{
	uint64_t new_time = hrt_absolute_time();

	/* Kind of inefficient: find both tasks and update times */
	uint8_t both_found = 0;

	for (int i = 0; i < CONFIG_MAX_TASKS; i++) {
		/* Task ending its current scheduling run */
		if (system_load.tasks[i].tcb->pid == pFromTcb->pid) {
			//if (system_load.tasks[i].curr_start_time != 0)
			{
				system_load.tasks[i].total_runtime += new_time - system_load.tasks[i].curr_start_time;
			}
			both_found++;

		} else if (system_load.tasks[i].tcb->pid == pToTcb->pid) {
			system_load.tasks[i].curr_start_time = new_time;
			both_found++;
		}

		/* Do only iterate as long as needed */
		if (both_found == 2) {
			break;
		}
	}
}

#endif /* CONFIG_SCHED_INSTRUMENTATION */