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AP_Scheduler: use ExpandingString class

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Andrew Tridgell 2020-12-30 17:23:27 +11:00 committed by Peter Barker
parent c21b6b4a16
commit 6da0212ce4
2 changed files with 10 additions and 27 deletions
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35
libraries/AP_Scheduler/AP_Scheduler.cpp
View File

@ -26,6 +26,8 @@
#include <AP_Logger/AP_Logger.h>
#include <AP_InertialSensor/AP_InertialSensor.h>
#include <AP_InternalError/AP_InternalError.h>
#include <AP_Common/ExpandingString.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include <SITL/SITL.h>
#endif
@ -409,31 +411,21 @@ void AP_Scheduler::Log_Write_Performance()
}
// display task statistics as text buffer for @SYS/tasks.txt
size_t AP_Scheduler::task_info(char *buf, size_t bufsize)
void AP_Scheduler::task_info(ExpandingString &str)
{
size_t total = 0;
// a header to allow for machine parsers to determine format
int n = hal.util->snprintf(buf, bufsize, "TasksV1\n");
if (n <= 0) {
return 0;
}
str.printf("TasksV1\n");
// dynamically enable statistics collection
if (!(_options & uint8_t(Options::RECORD_TASK_INFO))) {
_options |= uint8_t(Options::RECORD_TASK_INFO);
return n;
return;
}
if (perf_info.get_task_info(0) == nullptr) {
return n;
return;
}
buf += n;
bufsize -= n;
total += n;
// baseline the total time taken by all tasks
float total_time = 1.0f;
for (uint8_t i = 0; i < _num_tasks + 1; i++) {
@ -459,19 +451,10 @@ size_t AP_Scheduler::task_info(char *buf, size_t bufsize)
#else
const char* fmt = "%-32.32s MIN=%3u MAX=%3u AVG=%3u OVR=%3u SLP=%3u, TOT=%4.1f%%\n";
#endif
n = hal.util->snprintf(buf, bufsize, fmt, task_name,
unsigned(MIN(ti->min_time_us, 999)), unsigned(MIN(ti->max_time_us, 999)), unsigned(avg),
unsigned(MIN(ti->overrun_count, 999)), unsigned(MIN(ti->slip_count, 999)), pct);
if (n <= 0) {
break;
}
buf += n;
bufsize -= n;
total += n;
str.printf(fmt, task_name,
unsigned(MIN(ti->min_time_us, 999)), unsigned(MIN(ti->max_time_us, 999)), unsigned(avg),
unsigned(MIN(ti->overrun_count, 999)), unsigned(MIN(ti->slip_count, 999)), pct);
}
return total;
}
namespace AP {

2
libraries/AP_Scheduler/AP_Scheduler.h
View File

@ -156,7 +156,7 @@ public:
HAL_Semaphore &get_semaphore(void) { return _rsem; }
size_t task_info(char *buf, size_t bufsize);
void task_info(ExpandingString &str);
static const struct AP_Param::GroupInfo var_info[];