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Sub: use AP::PerfInfo library

This commit is contained in:
Peter Barker 2017-11-13 13:08:00 +11:00 committed by Francisco Ferreira
parent 04c9e966e0
commit 901dc46708
5 changed files with 16 additions and 105 deletions
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14
ArduSub/ArduSub.cpp
View File

@ -90,7 +90,7 @@ void Sub::setup()
scheduler.init(&scheduler_tasks[0], ARRAY_SIZE(scheduler_tasks));
// setup initial performance counters
perf_info_reset();
perf_info.reset();
fast_loopTimer = AP_HAL::micros();
}
@ -109,12 +109,12 @@ void Sub::perf_update(void)
}
if (scheduler.debug()) {
gcs().send_text(MAV_SEVERITY_WARNING, "PERF: %u/%u %lu %lu",
(unsigned)perf_info_get_num_long_running(),
(unsigned)perf_info_get_num_loops(),
(unsigned long)perf_info_get_max_time(),
(unsigned long)perf_info_get_min_time());
(unsigned)perf_info.get_num_long_running(),
(unsigned)perf_info.get_num_loops(),
(unsigned long)perf_info.get_max_time(),
(unsigned long)perf_info.get_min_time());
}
perf_info_reset();
perf_info.reset();
pmTest1 = 0;
}
@ -126,7 +126,7 @@ void Sub::loop()
uint32_t timer = micros();
// check loop time
perf_info_check_loop_time(timer - fast_loopTimer);
perf_info.check_loop_time(timer - fast_loopTimer);
// used by PI Loops
G_Dt = (float)(timer - fast_loopTimer) / 1000000.0f;

8
ArduSub/Log.cpp
View File

@ -159,13 +159,13 @@ void Sub::Log_Write_Performance()
struct log_Performance pkt = {
LOG_PACKET_HEADER_INIT(LOG_PERFORMANCE_MSG),
time_us : AP_HAL::micros64(),
num_long_running : perf_info_get_num_long_running(),
num_loops : perf_info_get_num_loops(),
max_time : perf_info_get_max_time(),
num_long_running : perf_info.get_num_long_running(),
num_loops : perf_info.get_num_loops(),
max_time : perf_info.get_max_time(),
pm_test : pmTest1,
i2c_lockup_count : 0,
ins_error_count : ins.error_count(),
log_dropped : DataFlash.num_dropped() - perf_info_get_num_dropped(),
log_dropped : DataFlash.num_dropped() - perf_info.get_num_dropped(),
hal.util->available_memory()
};
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));

12
ArduSub/Sub.h
View File

@ -66,6 +66,7 @@
#include <AC_WPNav/AC_Circle.h> // circle navigation library
#include <AC_Fence/AC_Fence.h> // Fence library
#include <AP_Scheduler/AP_Scheduler.h> // main loop scheduler
#include <AP_Scheduler/PerfInfo.h> // loop perf monitoring
#include <AP_Notify/AP_Notify.h> // Notify library
#include <AP_BattMonitor/AP_BattMonitor.h> // Battery monitor library
#include <AP_BoardConfig/AP_BoardConfig.h> // board configuration library
@ -345,6 +346,9 @@ private:
// Flag indicating if we are currently using input hold
bool input_hold_engaged;
// loop performance monitoring:
AP::PerfInfo perf_info = AP::PerfInfo::create();
// 3D Location vectors
// Current location of the Sub (altitude is relative to home)
Location_Class current_loc;
@ -623,14 +627,6 @@ private:
bool init_arm_motors(bool arming_from_gcs);
void init_disarm_motors();
void motors_output();
void perf_info_reset();
void perf_ignore_this_loop();
void perf_info_check_loop_time(uint32_t time_in_micros);
uint16_t perf_info_get_num_loops();
uint32_t perf_info_get_max_time();
uint32_t perf_info_get_min_time();
uint16_t perf_info_get_num_long_running();
uint32_t perf_info_get_num_dropped();
Vector3f pv_location_to_vector(const Location& loc);
float pv_alt_above_origin(float alt_above_home_cm);
float pv_get_bearing_cd(const Vector3f &origin, const Vector3f &destination);

2
ArduSub/motors.cpp
View File

@ -75,7 +75,7 @@ bool Sub::init_arm_motors(bool arming_from_gcs)
mainloop_failsafe_enable();
// perf monitor ignores delay due to arming
perf_ignore_this_loop();
perf_info.ignore_this_loop();
// flag exiting this function
in_arm_motors = false;

85
ArduSub/perf_info.cpp
View File

@ -1,85 +0,0 @@
#include "Sub.h"
//
// high level performance monitoring
//
// we measure the main loop time
//
// 400hz loop update rate
#define PERF_INFO_OVERTIME_THRESHOLD_MICROS 3000
static uint16_t perf_info_loop_count;
static uint32_t perf_info_max_time; // in microseconds
static uint32_t perf_info_min_time; // in microseconds
static uint16_t perf_info_long_running;
static uint32_t perf_info_log_dropped;
static bool perf_ignore_loop = false;
// perf_info_reset - reset all records of loop time to zero
void Sub::perf_info_reset()
{
perf_info_loop_count = 0;
perf_info_max_time = 0;
perf_info_min_time = 0;
perf_info_long_running = 0;
perf_info_log_dropped = DataFlash.num_dropped();
}
// perf_ignore_loop - ignore this loop from performance measurements (used to reduce false positive when arming)
void Sub::perf_ignore_this_loop()
{
perf_ignore_loop = true;
}
// perf_info_check_loop_time - check latest loop time vs min, max and overtime threshold
void Sub::perf_info_check_loop_time(uint32_t time_in_micros)
{
perf_info_loop_count++;
// exit if this loop should be ignored
if (perf_ignore_loop) {
perf_ignore_loop = false;
return;
}
if (time_in_micros > perf_info_max_time) {
perf_info_max_time = time_in_micros;
}
if (perf_info_min_time == 0 || time_in_micros < perf_info_min_time) {
perf_info_min_time = time_in_micros;
}
if (time_in_micros > PERF_INFO_OVERTIME_THRESHOLD_MICROS) {
perf_info_long_running++;
}
}
// perf_info_get_long_running_percentage - get number of long running loops as a percentage of the total number of loops
uint16_t Sub::perf_info_get_num_loops()
{
return perf_info_loop_count;
}
// perf_info_get_max_time - return maximum loop time (in microseconds)
uint32_t Sub::perf_info_get_max_time()
{
return perf_info_max_time;
}
// perf_info_get_max_time - return maximum loop time (in microseconds)
uint32_t Sub::perf_info_get_min_time()
{
return perf_info_min_time;
}
// perf_info_get_num_long_running - get number of long running loops
uint16_t Sub::perf_info_get_num_long_running()
{
return perf_info_long_running;
}
// perf_info_get_num_dropped - get number of dropped log messages
uint32_t Sub::perf_info_get_num_dropped()
{
return perf_info_log_dropped;
}