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AP_Scheduler: added load_average() function

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useful to give a load average in SYS_STATUS mavlink message
This commit is contained in:
Andrew Tridgell 2013-07-23 15:00:00 +10:00
parent fef6a76078
commit a192b9ee46
2 changed files with 30 additions and 1 deletions
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20
libraries/AP_Scheduler/AP_Scheduler.cpp
View File

@ -86,12 +86,22 @@ void AP_Scheduler::run(uint16_t time_available)
(unsigned)time_taken,
(unsigned)_task_time_allowed);
}
return;
goto update_spare_ticks;
}
time_available -= time_taken;
}
}
}
// update number of spare microseconds
_spare_micros += time_available;
update_spare_ticks:
_spare_ticks++;
if (_spare_ticks == 32) {
_spare_ticks /= 2;
_spare_micros /= 2;
}
}
/*
@ -106,3 +116,11 @@ uint16_t AP_Scheduler::time_available_usec(void)
return _task_time_allowed - dt;
}
/*
calculate load average as a number from 0 to 1
*/
float AP_Scheduler::load_average(uint32_t tick_time_usec) const
{
uint32_t used_time = tick_time_usec - (_spare_micros/_spare_ticks);
return used_time / (float)tick_time_usec;
}

11
libraries/AP_Scheduler/AP_Scheduler.h
View File

@ -53,6 +53,11 @@ public:
// return debug parameter
uint8_t debug(void) { return _debug; }
// return load average, as a number between 0 and 1. 1 means
// 100% load. Calculated from how much spare time we have at the
// end of a run()
float load_average(uint32_t tick_time_usec) const;
static const struct AP_Param::GroupInfo var_info[];
private:
@ -77,6 +82,12 @@ private:
// the time in microseconds when the task started
uint32_t _task_time_started;
// number of spare microseconds accumulated
uint32_t _spare_micros;
// number of ticks that _spare_micros is counted over
uint8_t _spare_ticks;
};
#endif // AP_SCHEDULER_H