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load_mon: split out header

This commit is contained in:
Daniel Agar 2020-07-15 11:44:08 -04:00
parent fd66d42906
commit 392eb123fc
3 changed files with 99 additions and 71 deletions
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6
src/modules/load_mon/CMakeLists.txt
View File

@ -35,8 +35,8 @@ px4_add_module(
MAIN load_mon
COMPILE_FLAGS
SRCS
load_mon.cpp
LoadMon.cpp
LoadMon.hpp
DEPENDS
px4_work_queue
)
)

69
src/modules/load_mon/load_mon.cpp → src/modules/load_mon/LoadMon.cpp
View File

@ -31,29 +31,7 @@
*
****************************************************************************/
/**
* @file load_mon.cpp
*
* @author Jonathan Challinger <jonathan@3drobotics.com>
* @author Julian Oes <julian@oes.ch
* @author Andreas Antener <andreas@uaventure.com>
*/
#include <drivers/drv_hrt.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <systemlib/cpuload.h>
#include <uORB/Publication.hpp>
#include <uORB/topics/cpuload.h>
#include <uORB/topics/task_stack_info.h>
#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<LoadMon>, 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_s> _task_stack_info_pub{ORB_ID(task_stack_info)};
DEFINE_PARAMETERS(
(ParamBool<px4::params::SYS_STCK_EN>) _param_sys_stck_en
)
uORB::Publication<cpuload_s> _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);
}

95
src/modules/load_mon/LoadMon.hpp Normal file
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@ -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 <drivers/drv_hrt.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <systemlib/cpuload.h>
#include <uORB/Publication.hpp>
#include <uORB/topics/cpuload.h>
#include <uORB/topics/task_stack_info.h>
namespace load_mon
{
class LoadMon : public ModuleBase<LoadMon>, 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_s> _task_stack_info_pub{ORB_ID(task_stack_info)};
uORB::Publication<cpuload_s> _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<px4::params::SYS_STCK_EN>) _param_sys_stck_en
)
};
} // namespace load_mon