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AP_HAL_SITL: log number of times sim paused on serial0 buffer

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SITL pauses the simulation if we do not have a minimum amount of space in its out queue.

Log the number of times we do this.
This commit is contained in:
Peter Barker 2024-06-08 17:42:26 +10:00 committed by Andrew Tridgell
parent 7e59b8c5a0
commit 6ae0b5ec5b
4 changed files with 12 additions and 0 deletions
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5
libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
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@ -206,6 +206,11 @@ bool HAL_SITL::run_in_maintenance_mode() const
} }
#endif #endif
uint32_t HAL_SITL::get_uart_output_full_queue_count() const
{
return _sitl_state->_serial_0_outqueue_full_count;
}
void HAL_SITL::run(int argc, char * const argv[], Callbacks* callbacks) const void HAL_SITL::run(int argc, char * const argv[], Callbacks* callbacks) const
{ {
assert(callbacks); assert(callbacks);

2
libraries/AP_HAL_SITL/HAL_SITL_Class.h
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@ -41,6 +41,8 @@ public:
bool run_in_maintenance_mode() const; bool run_in_maintenance_mode() const;
#endif #endif
uint32_t get_uart_output_full_queue_count() const;
private: private:
HALSITL::SITL_State *_sitl_state; HALSITL::SITL_State *_sitl_state;

1
libraries/AP_HAL_SITL/SITL_State.cpp
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@ -188,6 +188,7 @@ void SITL_State::wait_clock(uint64_t wait_time_usec)
if (queue_length < 1024) { if (queue_length < 1024) {
break; break;
} }
_serial_0_outqueue_full_count++;
usleep(1000); usleep(1000);
} }
} }

4
libraries/AP_HAL_SITL/SITL_State_common.h
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@ -247,6 +247,10 @@ public:
void multicast_state_open(void); void multicast_state_open(void);
void multicast_state_send(void); void multicast_state_send(void);
// number of times we have paused the simulation for 1ms because
// the TCP queue is full:
uint32_t _serial_0_outqueue_full_count;
protected: protected:
enum vehicle_type _vehicle; enum vehicle_type _vehicle;