mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-12 20:03:35 +08:00
Jacob Dahl
ce3e62841f
* module_base: claude rewrite to remove CRTP bloat * module_base: apply to all drivers/modules * format * fix build errors * fix missing syntax * remove reference to module.h in files that need module_base.h * remove old ModuleBase<T> * add module_base.cpp to px4_protected_layers.cmake * fix IridiumSBD can_stop() * fix IridiumSBD.cpp * clang-tidy: downcast static cast * get_instance() template accessor, revert clang-tidy global * rename module_base.h to module.h * revert changes in zenoh/Kconfig.topics
115 lines
3.6 KiB
C++
115 lines
3.6 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#if defined(__PX4_NUTTX)
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#include <malloc.h>
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#endif
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#include <drivers/drv_hrt.h>
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#include <lib/perf/perf_counter.h>
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/module_params.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform/cpuload.h>
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#include <uORB/Publication.hpp>
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#include <uORB/topics/cpuload.h>
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#include <uORB/topics/task_stack_info.h>
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#if defined(__PX4_LINUX)
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#include <sys/times.h>
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#endif
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namespace load_mon
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{
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class LoadMon : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
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{
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public:
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LoadMon();
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~LoadMon() override;
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static Descriptor desc;
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[])
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{
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return print_usage("unknown command");
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}
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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void start();
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private:
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/** Do a compute and schedule the next cycle. */
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void Run() override;
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/** Do a calculation of the CPU load and publish it. */
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void cpuload();
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/* Stack check only available on Nuttx */
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#if defined(__PX4_NUTTX)
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/* Calculate stack usage */
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void stack_usage();
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int _stack_task_index{0};
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uORB::Publication<task_stack_info_s> _task_stack_info_pub{ORB_ID(task_stack_info)};
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#endif
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uORB::Publication<cpuload_s> _cpuload_pub {ORB_ID(cpuload)};
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#if defined(__PX4_LINUX)
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FILE *_proc_fd = nullptr;
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/* calculate usage directly from clock ticks on Linux */
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clock_t _last_total_time_stamp{};
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clock_t _last_spent_time_stamp{};
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#elif defined(__PX4_NUTTX)
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hrt_abstime _last_idle_time {0};
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hrt_abstime _last_idle_time_sample{0};
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#endif
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perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
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DEFINE_PARAMETERS(
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(ParamBool<px4::params::SYS_STCK_EN>) _param_sys_stck_en
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)
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};
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} // namespace load_mon
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