diff --git a/src/modules/load_mon/CMakeLists.txt b/src/modules/load_mon/CMakeLists.txt index 7f1f59c837..a2c6ee0647 100644 --- a/src/modules/load_mon/CMakeLists.txt +++ b/src/modules/load_mon/CMakeLists.txt @@ -35,8 +35,8 @@ px4_add_module( MAIN load_mon COMPILE_FLAGS SRCS - load_mon.cpp + LoadMon.cpp + LoadMon.hpp DEPENDS px4_work_queue - ) - +) diff --git a/src/modules/load_mon/load_mon.cpp b/src/modules/load_mon/LoadMon.cpp similarity index 78% rename from src/modules/load_mon/load_mon.cpp rename to src/modules/load_mon/LoadMon.cpp index f746eb6974..48fe546e2b 100644 --- a/src/modules/load_mon/load_mon.cpp +++ b/src/modules/load_mon/LoadMon.cpp @@ -31,29 +31,7 @@ * ****************************************************************************/ -/** - * @file load_mon.cpp - * - * @author Jonathan Challinger - * @author Julian Oes - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#if defined(__PX4_NUTTX) && !defined(CONFIG_SCHED_INSTRUMENTATION) -# error load_mon support requires CONFIG_SCHED_INSTRUMENTATION -#endif +#include "LoadMon.hpp" // if free stack space falls below this, print a warning #if defined(CONFIG_ARMV7M_STACKCHECK) @@ -69,50 +47,6 @@ using namespace time_literals; namespace load_mon { -class LoadMon : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem -{ -public: - LoadMon(); - ~LoadMon() override; - - static int task_spawn(int argc, char *argv[]); - - /** @see ModuleBase */ - static int custom_command(int argc, char *argv[]) - { - return print_usage("unknown command"); - } - - /** @see ModuleBase */ - static int print_usage(const char *reason = nullptr); - - void start(); - -private: - /** Do a compute and schedule the next cycle. */ - void Run() override; - - /** Do a calculation of the CPU load and publish it. */ - void cpuload(); - - /* Calculate stack usage */ - void stack_usage(); - - int _stack_task_index{0}; - uORB::PublicationQueued _task_stack_info_pub{ORB_ID(task_stack_info)}; - - DEFINE_PARAMETERS( - (ParamBool) _param_sys_stck_en - ) - - uORB::Publication _cpuload_pub{ORB_ID(cpuload)}; - - hrt_abstime _last_idle_time{0}; - hrt_abstime _last_idle_time_sample{0}; - - perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")}; -}; - LoadMon::LoadMon() : ModuleParams(nullptr), ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default) @@ -122,7 +56,6 @@ LoadMon::LoadMon() : LoadMon::~LoadMon() { ScheduleClear(); - perf_free(_cycle_perf); } diff --git a/src/modules/load_mon/LoadMon.hpp b/src/modules/load_mon/LoadMon.hpp new file mode 100644 index 0000000000..b426461f9f --- /dev/null +++ b/src/modules/load_mon/LoadMon.hpp @@ -0,0 +1,95 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2020 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace load_mon +{ + +class LoadMon : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem +{ +public: + LoadMon(); + ~LoadMon() override; + + static int task_spawn(int argc, char *argv[]); + + /** @see ModuleBase */ + static int custom_command(int argc, char *argv[]) + { + return print_usage("unknown command"); + } + + /** @see ModuleBase */ + static int print_usage(const char *reason = nullptr); + + void start(); + +private: + /** Do a compute and schedule the next cycle. */ + void Run() override; + + /** Do a calculation of the CPU load and publish it. */ + void cpuload(); + + /* Calculate stack usage */ + void stack_usage(); + + int _stack_task_index{0}; + + uORB::PublicationQueued _task_stack_info_pub{ORB_ID(task_stack_info)}; + uORB::Publication _cpuload_pub{ORB_ID(cpuload)}; + + hrt_abstime _last_idle_time{0}; + hrt_abstime _last_idle_time_sample{0}; + + perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")}; + + DEFINE_PARAMETERS( + (ParamBool) _param_sys_stck_en + ) +}; + +} // namespace load_mon