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https://github.com/ArduPilot/ardupilot
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ArduCopter: added AP_PerfMon library
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rmackay9
parent
d430903fcd
commit
6fceb278b0
219
libraries/AP_PerfMon/AP_PerfMon.cpp
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219
libraries/AP_PerfMon/AP_PerfMon.cpp
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#include <math.h>
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#include <FastSerial.h>
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#include "Arduino.h"
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#include "AP_PerfMon.h"
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// static class variable definitions
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uint8_t AP_PerfMon::nextFuncNum;
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char AP_PerfMon::functionNames[PERFMON_MAX_FUNCTIONS][PERFMON_FUNCTION_NAME_LENGTH];
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uint32_t AP_PerfMon::time[PERFMON_MAX_FUNCTIONS];
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uint32_t AP_PerfMon::maxTime[PERFMON_MAX_FUNCTIONS];
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uint32_t AP_PerfMon::numCalls[PERFMON_MAX_FUNCTIONS];
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uint32_t AP_PerfMon::allStartTime;
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uint32_t AP_PerfMon::allEndTime;
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AP_PerfMon* AP_PerfMon::lastCreated = NULL;
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bool AP_PerfMon::_enabled = true;
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// constructor
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AP_PerfMon::AP_PerfMon(uint8_t funcNum) : _funcNum(funcNum), _time_this_iteration(0)
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{
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// exit immediately if we are disabled
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if( !_enabled ) {
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return;
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}
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// check global start time
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if( allStartTime == 0 ) {
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allStartTime = micros();
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}
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// stop recording time from parent
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_parent = lastCreated; // add pointer to parent
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if( _parent != NULL ) {
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_parent->stop();
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}
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// record myself as the last created instance
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lastCreated = this;
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numCalls[_funcNum]++; // record that this function has been called
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start(); // start recording time spent in this function
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}
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// destructor
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AP_PerfMon::~AP_PerfMon()
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{
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// exit immediately if we are disabled
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if( !_enabled ) {
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return;
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}
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stop(); // stop recording time spent in this function
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lastCreated = _parent; // make my parent the last created instance
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// calculate max time spent in this function
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if( _time_this_iteration > maxTime[_funcNum] ) {
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maxTime[_funcNum] = _time_this_iteration;
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}
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// restart recording time for parent
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if( _parent != NULL )
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_parent->start();
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}
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// record function name in static list
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uint8_t AP_PerfMon::recordFunctionName(const char funcName[])
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{
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uint8_t nextNum = nextFuncNum++;
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uint8_t i;
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// clear existing function name (if any)
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functionNames[nextNum][0] = 0;
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// store function name
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for( i=0; i<PERFMON_FUNCTION_NAME_LENGTH-1 && funcName[i] != 0; i++ ) {
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functionNames[nextNum][i] = funcName[i];
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}
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functionNames[nextNum][i] = 0;
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return nextNum;
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}
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// stop recording time
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void AP_PerfMon::start()
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{
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_startTime = micros(); // start recording time spent in this function
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}
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// stop recording time
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void AP_PerfMon::stop()
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{
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uint32_t temp_time = micros()-_startTime;
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_time_this_iteration += temp_time;
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time[_funcNum] += temp_time;
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}
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// ClearAll - clears all data from static members
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void AP_PerfMon::ClearAll()
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{
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uint8_t i;
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AP_PerfMon *p = lastCreated;
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for(i=0; i<PERFMON_MAX_FUNCTIONS; i++) {
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time[i] = 0; // reset times
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numCalls[i] = 0; // reset num times called
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maxTime[i] = 0; // reset maximum time
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}
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// reset start time to now
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allStartTime = micros();
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allEndTime = 0;
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// reset start times of any active counters
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while( p != NULL ) {
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p->_startTime = allStartTime;
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p = p->_parent;
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}
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}
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// DisplayResults - displays table of timing results
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void AP_PerfMon::DisplayResults()
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{
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uint8_t i,j,changed;
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float hz;
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float pct;
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uint32_t totalTime;
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uint32_t avgTime;
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uint32_t sumOfTime = 0;
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uint32_t unExplainedTime;
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uint8_t order[PERFMON_MAX_FUNCTIONS];
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bool blocking_writes;
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// record end time
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if( allEndTime == 0 ) {
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allEndTime = micros();
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}
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// turn off any time recording
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if( lastCreated != NULL ) {
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lastCreated->stop();
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}
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_enabled = false;
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// reorder results
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for(i=0; i<nextFuncNum; i++) {
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order[i] = i;
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}
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changed=0;
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do{
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changed = 0;
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for(i=0; i<nextFuncNum-1; i++)
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if(time[order[i]]<time[order[i+1]]) {
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j = order[i];
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order[i] = order[i+1];
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order[i+1] = j;
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changed = 1;
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}
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}while(changed != 0);
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// calculate time elapsed
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totalTime = allEndTime - allStartTime;
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// ensure serial is blocking
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blocking_writes = Serial.get_blocking_writes();
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Serial.set_blocking_writes(true);
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Serial.printf_P(PSTR("blocking was:%d\n"),(int)blocking_writes);
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// print table of results
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Serial.printf_P(PSTR("\nPerfMon elapsed:%lu(ms)\n"),(unsigned long)totalTime/1000);
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Serial.printf_P(PSTR("Fn:\t\tcpu\ttot(ms)\tavg(ms)\tmax(ms)\t#calls\tHz\n"));
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for( i=0; i<nextFuncNum; i++ ) {
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j=order[i];
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sumOfTime += time[j];
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// calculate average execution time
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if( numCalls[j] > 0 ) {
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avgTime = time[j] / numCalls[j];
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}else{
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avgTime = 0;
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}
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hz = numCalls[j]/(totalTime/1000000);
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pct = ((float)time[j] / (float)totalTime) * 100.0;
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Serial.printf_P(PSTR("%-10s\t%4.2f\t%lu\t%4.3f\t%4.3f\t%lu\t%4.1f\n"),
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functionNames[j],
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pct,
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(unsigned long)time[j]/1000,
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(float)avgTime/1000.0,
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(float)maxTime[j]/1000.0,
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numCalls[j],
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hz);
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}
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// display unexplained time
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if( sumOfTime >= totalTime ) {
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unExplainedTime = 0;
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} else {
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unExplainedTime = totalTime - sumOfTime;
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}
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pct = ((float)unExplainedTime / (float)totalTime) * 100.0;
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Serial.printf_P(PSTR("unexpl:\t\t%4.2f\t%lu\n"),pct,(unsigned long)unExplainedTime/1000);
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// restore to blocking writes if necessary
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Serial.set_blocking_writes(blocking_writes);
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// turn back on any time recording
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if( lastCreated != NULL ) {
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lastCreated->start();
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}
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_enabled = true;
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}
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// DisplayAndClear - will display results after this many milliseconds. should be called regularly
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void AP_PerfMon::DisplayAndClear(uint32_t display_after_seconds)
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{
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if( (micros() - allStartTime) > (uint32_t)(display_after_seconds * 1000000) ) {
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DisplayResults();
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ClearAll();
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}
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}
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48
libraries/AP_PerfMon/AP_PerfMon.h
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48
libraries/AP_PerfMon/AP_PerfMon.h
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#ifndef AP_PERFMON_H
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#define AP_PERFMON_H
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// macros to make integrating into code easier
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#define AP_PERFMON_REGISTER static uint8_t myFunc = AP_PerfMon::recordFunctionName(__func__); AP_PerfMon perfMon(myFunc);
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#define AP_PERFMON_REGISTER_NAME(functionName) static uint8_t myFunc = AP_PerfMon::recordFunctionName(functionName); AP_PerfMon perfMon(myFunc);
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#define PERFMON_MAX_FUNCTIONS 11
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#define PERFMON_FUNCTION_NAME_LENGTH 10
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#include <AP_Common.h>
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#include "HardwareSerial.h"
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class AP_PerfMon
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{
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public:
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// static methods
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static uint8_t recordFunctionName(const char funcName[]);
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static void DisplayResults();
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static void ClearAll();
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static void DisplayAndClear(uint32_t display_after_seconds); // will display results after this many milliseconds. should be called regularly
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// public methods
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AP_PerfMon(uint8_t funcNum); // Constructor - records function start time
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~AP_PerfMon(); // Destructor - records function end time
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void stop(); // stops recording time spent in this function - meant to be called by a child.
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void start(); // restarts recording time spent in this function
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private:
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// static variables
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static uint8_t nextFuncNum;
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static char functionNames[PERFMON_MAX_FUNCTIONS][PERFMON_FUNCTION_NAME_LENGTH];
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static uint32_t time[PERFMON_MAX_FUNCTIONS];
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static uint32_t numCalls[PERFMON_MAX_FUNCTIONS];
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static uint32_t maxTime[PERFMON_MAX_FUNCTIONS];
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static uint32_t allStartTime;
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static uint32_t allEndTime;
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static AP_PerfMon* lastCreated;
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static bool _enabled;
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// instance variables
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uint8_t _funcNum;
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unsigned long _startTime;
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unsigned long _time_this_iteration;
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AP_PerfMon* _parent;
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};
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#endif // AP_PERFMON_H
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55
libraries/AP_PerfMon/AP_PerfMon_test/AP_PerfMon_test.pde
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55
libraries/AP_PerfMon/AP_PerfMon_test/AP_PerfMon_test.pde
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/*
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AP_PerfMon
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Code by Randy Mackay
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*/
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#include <FastSerial.h>
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#include <AP_Common.h>
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#include <AP_PerfMon.h> // PerfMonitor library
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FastSerialPort0(Serial);
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void setup()
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{
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AP_PERFMON_REGISTER_NAME("setupA")
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Serial.begin(115200);
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Serial.println("Performance Monitor test v1.1");
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// let tx buffer clear & display available space
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delay(100);
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Serial.printf_P(PSTR("Tx buf:%d available:%d\n"),Serial.txspace(),Serial.available());
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delay(100);
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Serial.set_blocking_writes(false);
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}
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void loop()
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{
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AP_PERFMON_REGISTER
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int16_t i = 0;
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for( i=0; i<10; i++ ) {
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testFn();
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}
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//AP_PerfMon::DisplayAndClear(5);
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AP_PerfMon::DisplayResults();
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AP_PerfMon::ClearAll();
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delay(10000);
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}
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void testFn()
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{
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AP_PERFMON_REGISTER
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//delay(10);
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//testFn2();
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//delay(10);
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Serial.printf_P(PSTR("1234567890"));
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}
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void testFn2()
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{
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AP_PERFMON_REGISTER
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delay(10);
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}
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