mirror of https://github.com/ArduPilot/ardupilot
79 lines
2.3 KiB
C++
79 lines
2.3 KiB
C++
#pragma once
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#include <stdint.h>
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#include <AP_Common/ExpandingString.h>
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namespace AP {
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class PerfInfo {
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public:
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PerfInfo() {}
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// per-task timing information
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struct TaskInfo {
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uint16_t min_time_us;
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uint16_t max_time_us;
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uint32_t elapsed_time_us;
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uint32_t tick_count;
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uint16_t slip_count;
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uint16_t overrun_count;
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void update(uint16_t task_time_us, bool overrun);
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void print(const char* task_name, uint32_t total_time, ExpandingString& str) const;
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};
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/* Do not allow copies */
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CLASS_NO_COPY(PerfInfo);
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void reset();
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void ignore_this_loop();
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void check_loop_time(uint32_t time_in_micros);
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uint16_t get_num_loops() const;
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uint32_t get_max_time() const;
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uint32_t get_min_time() const;
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uint16_t get_num_long_running() const;
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uint32_t get_avg_time() const;
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uint32_t get_stddev_time() const;
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float get_filtered_time() const;
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float get_filtered_loop_rate_hz() const;
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void set_loop_rate(uint16_t rate_hz);
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void update_logging() const;
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// allocate the array of task statistics for use by @SYS/tasks.txt
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void allocate_task_info(uint8_t num_tasks);
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void free_task_info();
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// whether or not we have task info allocated
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bool has_task_info() { return _task_info != nullptr; }
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// return a task info
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const TaskInfo* get_task_info(uint8_t task_index) const {
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return (_task_info && task_index < _num_tasks) ? &_task_info[task_index] : nullptr;
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}
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// called after each run of a task to update its statistics based on measurements taken by the scheduler
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void update_task_info(uint8_t task_index, uint16_t task_time_us, bool overrun);
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// record that a task slipped
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void task_slipped(uint8_t task_index) {
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if (_task_info && task_index < _num_tasks) {
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_task_info[task_index].overrun_count++;
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}
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}
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private:
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uint16_t loop_rate_hz;
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uint16_t overtime_threshold_micros;
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uint16_t loop_count;
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uint32_t max_time; // in microseconds
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uint32_t min_time; // in microseconds
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uint64_t sigma_time;
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uint64_t sigmasquared_time;
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uint16_t long_running;
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uint32_t last_check_us;
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float filtered_loop_time;
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bool ignore_loop;
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// performance monitoring
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uint8_t _num_tasks;
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TaskInfo* _task_info;
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};
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};
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