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cpuResourceCheck: use hysteresis class

This commit is contained in:
Matthias Grob 2023-11-06 14:34:02 +01:00
parent fd009c8be3
commit c53e0c4799
2 changed files with 27 additions and 28 deletions
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49
src/modules/commander/HealthAndArmingChecks/checks/cpuResourceCheck.cpp
View File

@ -35,6 +35,12 @@
using namespace time_literals;
CpuResourceChecks::CpuResourceChecks()
{
_high_cpu_load_hysteresis.set_hysteresis_time_from(false, 2_s);
_high_cpu_load_hysteresis.set_hysteresis_time_from(true, 2_s);
}
void CpuResourceChecks::checkAndReport(const Context &context, Report &reporter)
{
if (_param_com_cpu_max.get() < FLT_EPSILON) {
@ -59,37 +65,28 @@ void CpuResourceChecks::checkAndReport(const Context &context, Report &reporter)
mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: No CPU load information");
}
high_cpu_load_start_time_us_ = hrt_absolute_time(); // reset
} else {
const float cpuload_percent = cpuload.load * 100.f;
const bool high_cpu_load = cpuload_percent > _param_com_cpu_max.get();
_high_cpu_load_hysteresis.set_state_and_update(high_cpu_load, hrt_absolute_time());
if (cpuload_percent > _param_com_cpu_max.get()) {
// fail check if CPU load is above the threshold for 2 seconds
if (_high_cpu_load_hysteresis.get_state()) {
/* EVENT
* @description
* The CPU load can be reduced for example by disabling unused modules (e.g. mavlink instances) or reducing the gyro update
* rate via <param>IMU_GYRO_RATEMAX</param>.
*
* <profile name="dev">
* The threshold can be adjusted via <param>COM_CPU_MAX</param> parameter.
* </profile>
*/
reporter.healthFailure<float>(NavModes::All, health_component_t::system, events::ID("check_cpuload_too_high"),
events::Log::Error, "CPU load too high: {1:.1}%", cpuload_percent);
// trigger the failure if the CPU load is above the threshold for 2 seconds
if (high_cpu_load_start_time_us_ == 0) {
high_cpu_load_start_time_us_ = hrt_absolute_time();
} else if (hrt_elapsed_time(&high_cpu_load_start_time_us_) > 2_s) {
/* EVENT
* @description
* The CPU load can be reduced for example by disabling unused modules (e.g. mavlink instances) or reducing the gyro update
* rate via <param>IMU_GYRO_RATEMAX</param>.
*
* <profile name="dev">
* The threshold can be adjusted via <param>COM_CPU_MAX</param> parameter.
* </profile>
*/
reporter.healthFailure<float>(NavModes::All, health_component_t::system, events::ID("check_cpuload_too_high"),
events::Log::Error, "CPU load too high: {1:.1}%", cpuload_percent);
if (reporter.mavlink_log_pub()) {
mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: CPU load too high: %3.1f%%", (double)cpuload_percent);
}
if (reporter.mavlink_log_pub()) {
mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: CPU load too high: %3.1f%%", (double)cpuload_percent);
}
} else {
high_cpu_load_start_time_us_ = 0; // reset
}
}
}

6
src/modules/commander/HealthAndArmingChecks/checks/cpuResourceCheck.hpp
View File

@ -35,13 +35,15 @@
#include "../Common.hpp"
#include <lib/hysteresis/hysteresis.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/cpuload.h>
class CpuResourceChecks : public HealthAndArmingCheckBase
{
public:
CpuResourceChecks() = default;
CpuResourceChecks();
~CpuResourceChecks() = default;
void checkAndReport(const Context &context, Report &reporter) override;
@ -49,7 +51,7 @@ public:
private:
uORB::Subscription _cpuload_sub{ORB_ID(cpuload)};
hrt_abstime high_cpu_load_start_time_us_{0};
systemlib::Hysteresis _high_cpu_load_hysteresis{false};
DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
(ParamFloat<px4::params::COM_CPU_MAX>) _param_com_cpu_max