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AP_Scheduler: print task total time as a percentage of all tasks time

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Andy Piper 2020-09-24 16:23:12 +01:00 committed by Andrew Tridgell
parent 608e1dcdc4
commit 958c19543f
1 changed files with 14 additions and 3 deletions
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17
libraries/AP_Scheduler/AP_Scheduler.cpp
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@ -430,23 +430,34 @@ size_t AP_Scheduler::task_info(char *buf, size_t bufsize)
bufsize -= n; bufsize -= n;
total += n; total += n;
// baseline the total time taken by all tasks
float total_time = 1.0f;
for (uint8_t i = 0; i < _num_tasks; i++) {
const AP::PerfInfo::TaskInfo* ti = perf_info.get_task_info(i);
if (ti->tick_count > 0) {
total_time += ti->elapsed_time_us;
}
}
for (uint8_t i = 0; i < _num_tasks; i++) { for (uint8_t i = 0; i < _num_tasks; i++) {
const AP_Scheduler::Task& task = (i < _num_unshared_tasks) ? _tasks[i] : _common_tasks[i - _num_unshared_tasks]; const AP_Scheduler::Task& task = (i < _num_unshared_tasks) ? _tasks[i] : _common_tasks[i - _num_unshared_tasks];
const AP::PerfInfo::TaskInfo* ti = perf_info.get_task_info(i); const AP::PerfInfo::TaskInfo* ti = perf_info.get_task_info(i);
uint16_t avg = 0; uint16_t avg = 0;
float pct = 0.0f;
if (ti->tick_count > 0) { if (ti->tick_count > 0) {
pct = ti->elapsed_time_us * 100.0f / total_time;
avg = MIN(uint16_t(ti->elapsed_time_us / ti->tick_count), 999); avg = MIN(uint16_t(ti->elapsed_time_us / ti->tick_count), 999);
} }
#if HAL_MINIMIZE_FEATURES #if HAL_MINIMIZE_FEATURES
const char* fmt = "%-16.16s MIN=%3u MAX=%3u AVG=%3u OVR=%3u SLP=%3u\n"; const char* fmt = "%-16.16s MIN=%3u MAX=%3u AVG=%3u OVR=%3u SLP=%3u, TOT=%4.1f%%\n";
#else #else
const char* fmt = "%-32.32s MIN=%3u MAX=%3u AVG=%3u OVR=%3u SLP=%3u\n"; const char* fmt = "%-32.32s MIN=%3u MAX=%3u AVG=%3u OVR=%3u SLP=%3u, TOT=%4.1f%%\n";
#endif #endif
n = hal.util->snprintf(buf, bufsize, fmt, task.name, 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->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))); unsigned(MIN(ti->overrun_count, 999)), unsigned(MIN(ti->slip_count, 999)), pct);
if (n <= 0) { if (n <= 0) {
break; break;