ardupilot/libraries/AP_Scheduler/PerfInfo.h

75 lines
2.1 KiB
C++

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