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Rover: use PerfInfo for performance monitoring

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This commit is contained in:
Peter Barker 2017-11-13 14:16:50 +11:00 committed by Andrew Tridgell
parent 044bc9adf0
commit 9511e72113
4 changed files with 38 additions and 40 deletions
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45
APMrover2/APMrover2.cpp
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@ -85,6 +85,7 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
SCHED_TASK(accel_cal_update, 10, 100),
SCHED_TASK_CLASS(DataFlash_Class, &rover.DataFlash, periodic_tasks, 50, 300),
SCHED_TASK_CLASS(AP_InertialSensor, &rover.ins, periodic, 50, 50),
SCHED_TASK(perf_update, 0.1, 75),
SCHED_TASK_CLASS(AP_Button, &rover.button, update, 5, 100),
SCHED_TASK(stats_update, 1, 100),
SCHED_TASK(crash_check, 10, 1000),
@ -115,6 +116,10 @@ void Rover::setup()
// initialise the main loop scheduler
scheduler.init(&scheduler_tasks[0], ARRAY_SIZE(scheduler_tasks));
// setup initial performance counters
perf_info.set_loop_rate(scheduler.get_loop_rate_hz());
perf_info.reset();
}
/*
@ -127,14 +132,13 @@ void Rover::loop()
const uint32_t timer = AP_HAL::micros();
delta_us_fast_loop = timer - fast_loopTimer_us;
G_Dt = delta_us_fast_loop * 1.0e-6f;
// check loop time
perf_info.check_loop_time(timer - fast_loopTimer_us);
G_Dt = (timer - fast_loopTimer_us) * 1.0e-6f;
fast_loopTimer_us = timer;
if (delta_us_fast_loop > G_Dt_max) {
G_Dt_max = delta_us_fast_loop;
}
// for mainloop failure monitoring
mainLoop_count++;
// tell the scheduler one tick has passed
@ -277,6 +281,23 @@ void Rover::update_aux(void)
SRV_Channels::enable_aux_servos();
}
void Rover::perf_update()
{
if (should_log(MASK_LOG_PM)) {
Log_Write_Performance();
}
if (scheduler.debug()) {
gcs().send_text(MAV_SEVERITY_WARNING, "PERF: %u/%u max=%lu min=%lu avg=%lu sd=%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 long)perf_info.get_avg_time(),
(unsigned long)perf_info.get_stddev_time());
}
perf_info.reset();
}
/*
once a second events
*/
@ -305,18 +326,6 @@ void Rover::one_second_loop(void)
counter++;
// write perf data every 20s
if (counter % 10 == 0) {
if (scheduler.debug() != 0) {
hal.console->printf("G_Dt_max=%u\n", G_Dt_max);
}
if (should_log(MASK_LOG_PM)) {
Log_Write_Performance();
}
G_Dt_max = 0;
resetPerfData();
}
// save compass offsets once a minute
if (counter >= 60) {
if (g.compass_enabled) {

12
APMrover2/Log.cpp
View File

@ -7,9 +7,9 @@
struct PACKED log_Performance {
LOG_PACKET_HEADER;
uint64_t time_us;
uint32_t loop_time;
uint16_t main_loop_count;
uint32_t g_dt_max;
uint16_t num_long_running;
uint16_t num_loops;
uint32_t max_time;
int16_t gyro_drift_x;
int16_t gyro_drift_y;
int16_t gyro_drift_z;
@ -24,9 +24,9 @@ void Rover::Log_Write_Performance()
struct log_Performance pkt = {
LOG_PACKET_HEADER_INIT(LOG_PERFORMANCE_MSG),
time_us : AP_HAL::micros64(),
loop_time : millis()- perf_mon_timer,
main_loop_count : mainLoop_count,
g_dt_max : G_Dt_max,
num_long_running : perf_info.get_num_long_running(),
num_loops : perf_info.get_num_loops(),
max_time : perf_info.get_max_time(),
gyro_drift_x : (int16_t)(ahrs.get_gyro_drift().x * 1000),
gyro_drift_y : (int16_t)(ahrs.get_gyro_drift().y * 1000),
gyro_drift_z : (int16_t)(ahrs.get_gyro_drift().z * 1000),

14
APMrover2/Rover.h
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@ -59,6 +59,7 @@
#include <AP_Relay/AP_Relay.h> // APM relay
#include <AP_RSSI/AP_RSSI.h> // RSSI Library
#include <AP_Scheduler/AP_Scheduler.h> // main loop scheduler
#include <AP_Scheduler/PerfInfo.h> // loop perf monitoring
#include <AP_SerialManager/AP_SerialManager.h> // Serial manager library
#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
#include <AP_Stats/AP_Stats.h> // statistics library
@ -212,6 +213,9 @@ private:
AP_ServoRelayEvents ServoRelayEvents{relay};
// loop performance monitoring:
AP::PerfInfo perf_info;
// The rover's current location
struct Location current_loc;
@ -330,17 +334,9 @@ private:
// This is the time between calls to the DCM algorithm and is the Integration time for the gyros.
float G_Dt;
// Performance monitoring
// Timer used to accrue data and trigger recording of the performance monitoring log message
int32_t perf_mon_timer;
// The maximum main loop execution time, in microseconds, recorded in the current performance monitoring interval
uint32_t G_Dt_max;
// System Timers
// Time in microseconds of start of main control loop.
uint32_t fast_loopTimer_us;
// Number of milliseconds used in last main loop cycle
uint32_t delta_us_fast_loop;
// Counter of main loop executions. Used for performance monitoring and failsafe processing
uint16_t mainLoop_count;
@ -401,6 +397,7 @@ private:
private:
// APMrover2.cpp
void perf_update();
void stats_update();
void ahrs_update();
void update_alt();
@ -560,7 +557,6 @@ private:
bool set_mode(Mode &new_mode, mode_reason_t reason);
bool mavlink_set_mode(uint8_t mode);
void startup_INS_ground(void);
void resetPerfData(void);
void check_usb_mux(void);
void print_mode(AP_HAL::BetterStream *port, uint8_t mode);
void notify_mode(const Mode *new_mode);

7
APMrover2/system.cpp
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@ -262,13 +262,6 @@ void Rover::startup_INS_ground(void)
ahrs.reset();
}
void Rover::resetPerfData(void) {
mainLoop_count = 0;
G_Dt_max = 0;
perf_mon_timer = millis();
}
void Rover::check_usb_mux(void)
{
bool usb_check = hal.gpio->usb_connected();