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e4446adba1
We had a case where someone took off with an experimental system with 100% RAM usage on the embedded system without noticing. This lead to problems during flight. Since we already have a CPU load check it seems natural to also check the reported RAM usage.
117 lines
4.8 KiB
C++
117 lines
4.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 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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#include "cpuResourceCheck.hpp"
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using namespace time_literals;
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CpuResourceChecks::CpuResourceChecks()
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{
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_high_cpu_load_hysteresis.set_hysteresis_time_from(false, 2_s);
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_high_cpu_load_hysteresis.set_hysteresis_time_from(true, 2_s);
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}
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void CpuResourceChecks::checkAndReport(const Context &context, Report &reporter)
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{
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const bool cpu_load_check_enabled = _param_com_cpu_max.get() > FLT_EPSILON;
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const bool ram_usage_check_enabled = _param_com_ram_max.get() > FLT_EPSILON;
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if (!cpu_load_check_enabled && !ram_usage_check_enabled) {
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return;
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}
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cpuload_s cpuload;
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if (!_cpuload_sub.copy(&cpuload) || hrt_elapsed_time(&cpuload.timestamp) > 2_s) {
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/* EVENT
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* @description
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* <profile name="dev">
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* If the system does not provide any CPU and RAM load information, use the parameters <param>COM_CPU_MAX</param>
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* and <param>COM_RAM_MAX</param> to disable the checks.
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* </profile>
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*/
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reporter.healthFailure(NavModes::All, health_component_t::system, events::ID("check_missing_cpuload"),
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events::Log::Error, "No CPU and RAM load information");
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if (reporter.mavlink_log_pub()) {
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mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: No CPU and RAM load information");
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}
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} else {
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const float cpuload_percent = cpuload.load * 100.f;
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const bool high_cpu_load = cpuload_percent > _param_com_cpu_max.get();
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_high_cpu_load_hysteresis.set_state_and_update(high_cpu_load, hrt_absolute_time());
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// fail check if CPU load is above the threshold for 2 seconds
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if (cpu_load_check_enabled && _high_cpu_load_hysteresis.get_state()) {
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/* EVENT
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* @description
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* The CPU load can be reduced for example by disabling unused modules (e.g. mavlink instances) or reducing the gyro update
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* rate via <param>IMU_GYRO_RATEMAX</param>.
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*
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* <profile name="dev">
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* The threshold can be adjusted via <param>COM_CPU_MAX</param> parameter.
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* </profile>
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*/
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reporter.healthFailure<float>(NavModes::All, health_component_t::system, events::ID("check_cpuload_too_high"),
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events::Log::Error, "CPU load too high: {1:.1}%", cpuload_percent);
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if (reporter.mavlink_log_pub()) {
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mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: CPU load too high: %3.1f%%", (double)cpuload_percent);
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}
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}
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const float ram_usage_percent = cpuload.ram_usage * 100.f;
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const bool high_ram_usage = ram_usage_percent > _param_com_ram_max.get();
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if (ram_usage_check_enabled && high_ram_usage) {
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/* EVENT
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* @description
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* The RAM usage can be reduced for example by disabling unused modules (e.g. mavlink instances).
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*
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* <profile name="dev">
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* The threshold can be adjusted via <param>COM_RAM_MAX</param> parameter.
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* </profile>
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*/
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reporter.healthFailure<float>(NavModes::All, health_component_t::system, events::ID("check_ram_usage_too_high"),
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events::Log::Error, "RAM usage too high: {1:.1}%", ram_usage_percent);
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if (reporter.mavlink_log_pub()) {
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mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: RAM usage too high: %3.1f%%",
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(double)ram_usage_percent);
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}
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}
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}
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}
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