mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-06 16:08:28 -04:00
619ce23799
The idea is to leave the internal perf enabled all the time, like it is in PX4, and then allow the integration with lttng on top. Next step would be to runtime enable/disable only the perf counters we are interested in. This also changes the structure so it's easy to allow another thread to pull data from the Perf object. A rw lock protects from addition of new counters and an atomic unsigned int allows other threads to do a lockless copy of the data. In order for this to work the allocation was changed to use a single memory pool instead of returning a calloc'ed data for each perf counter. Since most of our counters are of ' elapsed' type, don't bother using a smaller struct for the 'count' type
105 lines
3.0 KiB
C++
105 lines
3.0 KiB
C++
#pragma once
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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#include "AP_HAL_Linux_Namespace.h"
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#include "Perf.h"
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#include "ToneAlarm.h"
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#include "Semaphores.h"
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enum hw_type {
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UTIL_HARDWARE_RPI1 = 0,
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UTIL_HARDWARE_RPI2,
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UTIL_HARDWARE_BEBOP,
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UTIL_HARDWARE_BEBOP2,
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UTIL_NUM_HARDWARES,
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};
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class Linux::Util : public AP_HAL::Util {
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public:
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static Util *from(AP_HAL::Util *util) {
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return static_cast<Util*>(util);
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}
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void init(int argc, char * const *argv);
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bool run_debug_shell(AP_HAL::BetterStream *stream) { return false; }
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/**
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return commandline arguments, if available
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*/
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void commandline_arguments(uint8_t &argc, char * const *&argv);
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bool toneAlarm_init();
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void toneAlarm_set_tune(uint8_t tune);
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void _toneAlarm_timer_tick();
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/*
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set system clock in UTC microseconds
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*/
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void set_system_clock(uint64_t time_utc_usec);
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const char* get_custom_log_directory() { return custom_log_directory; }
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const char* get_custom_terrain_directory() { return custom_terrain_directory; }
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void set_custom_log_directory(const char *_custom_log_directory) { custom_log_directory = _custom_log_directory; }
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void set_custom_terrain_directory(const char *_custom_terrain_directory) { custom_terrain_directory = _custom_terrain_directory; }
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bool is_chardev_node(const char *path);
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void set_imu_temp(float current);
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uint32_t available_memory(void) override;
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/*
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* Write a string as specified by @fmt to the file in @path. Note this
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* should not be used on hot path since it will open, write and close the
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* file for each call.
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*/
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int write_file(const char *path, const char *fmt, ...) FMT_PRINTF(3, 4);
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/*
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* Read a string as specified by @fmt from the file in @path. Note this
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* should not be used on hot path since it will open, read and close the
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* file for each call.
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*/
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int read_file(const char *path, const char *fmt, ...) FMT_SCANF(3, 4);
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perf_counter_t perf_alloc(enum perf_counter_type t, const char *name) override
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{
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return Perf::get_instance()->add(t, name);
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}
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void perf_begin(perf_counter_t perf) override
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{
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return Perf::get_instance()->begin(perf);
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}
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void perf_end(perf_counter_t perf) override
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{
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return Perf::get_instance()->end(perf);
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}
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void perf_count(perf_counter_t perf) override
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{
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return Perf::get_instance()->count(perf);
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}
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// create a new semaphore
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AP_HAL::Semaphore *new_semaphore(void) override { return new Linux::Semaphore; }
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int get_hw_arm32();
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private:
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
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static Linux::ToneAlarm_Raspilot _toneAlarm;
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#else
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static Linux::ToneAlarm _toneAlarm;
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#endif
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Linux::Heat *_heat;
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int saved_argc;
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char* const *saved_argv;
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const char* custom_log_directory = NULL;
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const char* custom_terrain_directory = NULL;
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static const char *_hw_names[UTIL_NUM_HARDWARES];
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};
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