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param add perf counters

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Daniel Agar
2017-11-29 16:20:37 -05:00
committed by Lorenz Meier
parent c8590e0fb1
commit 641129ad4e
1 changed files with 41 additions and 33 deletions
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src/modules/systemlib/param/param.c
+41 -33
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@@ -41,29 +41,20 @@
* and background parameter saving. * and background parameter saving.
*/ */
//#include <debug.h> #include "param.h"
#include <px4_defines.h>
#include <px4_posix.h>
#include <px4_config.h>
#include <px4_shutdown.h>
#include <string.h>
#include <stdbool.h>
#include <float.h> #include <float.h>
#include <stdlib.h>
#include <fcntl.h>
#include <unistd.h>
#include <systemlib/err.h>
#include <errno.h>
#include <px4_sem.h>
#include <math.h> #include <math.h>
#include <sys/stat.h> #include <px4_defines.h>
#include <px4_posix.h>
#include <px4_sem.h>
#include <px4_shutdown.h>
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
#include <systemlib/perf_counter.h>
#include "systemlib/param/param.h" #include <systemlib/uthash/utarray.h>
#include "systemlib/uthash/utarray.h" #include <systemlib/bson/tinybson.h>
#include "systemlib/bson/tinybson.h"
//#define PARAM_NO_ORB ///< if defined, avoid uorb dependency. This disables publication of parameter_update on param change //#define PARAM_NO_ORB ///< if defined, avoid uorb dependency. This disables publication of parameter_update on param change
//#define PARAM_NO_AUTOSAVE ///< if defined, do not autosave (avoids LP work queue dependency) //#define PARAM_NO_AUTOSAVE ///< if defined, do not autosave (avoids LP work queue dependency)
@@ -171,6 +162,10 @@ static px4_sem_t param_sem; ///< this protects against concurrent access to para
static int reader_lock_holders = 0; static int reader_lock_holders = 0;
static px4_sem_t reader_lock_holders_lock; ///< this protects against concurrent access to reader_lock_holders static px4_sem_t reader_lock_holders_lock; ///< this protects against concurrent access to reader_lock_holders
static perf_counter_t param_export_perf;
static perf_counter_t param_get_perf;
static perf_counter_t param_set_perf;
static px4_sem_t param_sem_save; ///< this protects against concurrent param saves (file or flash access). static px4_sem_t param_sem_save; ///< this protects against concurrent param saves (file or flash access).
///< we use a separate lock to allow concurrent param reads and saves. ///< we use a separate lock to allow concurrent param reads and saves.
///< a param_set could still be blocked by a param save, because it ///< a param_set could still be blocked by a param save, because it
@@ -235,6 +230,10 @@ param_init(void)
px4_sem_init(&param_sem, 0, 1); px4_sem_init(&param_sem, 0, 1);
px4_sem_init(&param_sem_save, 0, 1); px4_sem_init(&param_sem_save, 0, 1);
px4_sem_init(&reader_lock_holders_lock, 0, 1); px4_sem_init(&reader_lock_holders_lock, 0, 1);
param_export_perf = perf_alloc(PC_ELAPSED, "param_export");
param_get_perf = perf_alloc(PC_ELAPSED, "param_get");
param_set_perf = perf_alloc(PC_ELAPSED, "param_set");
} }
/** /**
@@ -579,6 +578,7 @@ param_get(param_t param, void *val)
int result = -1; int result = -1;
param_lock_reader(); param_lock_reader();
perf_begin(param_get_perf);
const void *v = param_get_value_ptr(param); const void *v = param_get_value_ptr(param);
@@ -587,6 +587,7 @@ param_get(param_t param, void *val)
result = 0; result = 0;
} }
perf_end(param_get_perf);
param_unlock_reader(); param_unlock_reader();
return result; return result;
@@ -679,13 +680,14 @@ param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_
bool params_changed = false; bool params_changed = false;
param_lock_writer(); param_lock_writer();
perf_begin(param_set_perf);
if (param_values == NULL) { if (param_values == NULL) {
utarray_new(param_values, &param_icd); utarray_new(param_values, &param_icd);
} }
if (param_values == NULL) { if (param_values == NULL) {
debug("failed to allocate modified values array"); PX4_ERR("failed to allocate modified values array");
goto out; goto out;
} }
@@ -736,7 +738,7 @@ param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_
} }
if (s->val.p == NULL) { if (s->val.p == NULL) {
debug("failed to allocate parameter storage"); PX4_ERR("failed to allocate parameter storage");
goto out; goto out;
} }
} }
@@ -758,6 +760,7 @@ param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_
} }
out: out:
perf_end(param_set_perf);
param_unlock_writer(); param_unlock_writer();
/* /*
@@ -895,6 +898,7 @@ param_reset_excludes(const char *excludes[], int num_excludes)
if ((excludes[index][len - 1] == '*' if ((excludes[index][len - 1] == '*'
&& strncmp(name, excludes[index], len - 1) == 0) && strncmp(name, excludes[index], len - 1) == 0)
|| strcmp(name, excludes[index]) == 0) { || strcmp(name, excludes[index]) == 0) {
exclude = true; exclude = true;
break; break;
} }
@@ -943,7 +947,7 @@ param_save_default(void)
fd = PARAM_OPEN(filename, O_WRONLY | O_CREAT, PX4_O_MODE_666); fd = PARAM_OPEN(filename, O_WRONLY | O_CREAT, PX4_O_MODE_666);
if (fd < 0) { if (fd < 0) {
warn("failed to open param file: %s", filename); PX4_ERR("failed to open param file: %s", filename);
return ERROR; return ERROR;
} }
@@ -960,7 +964,7 @@ param_save_default(void)
} }
if (res != OK) { if (res != OK) {
warnx("failed to write parameters to file: %s", filename); PX4_ERR("failed to write parameters to file: %s", filename);
} }
PARAM_CLOSE(fd); PARAM_CLOSE(fd);
@@ -969,6 +973,7 @@ param_save_default(void)
res = flash_param_save(); res = flash_param_save();
param_unlock_writer(); param_unlock_writer();
#endif #endif
return res; return res;
} }
@@ -1010,6 +1015,8 @@ param_load_default(void)
int int
param_export(int fd, bool only_unsaved) param_export(int fd, bool only_unsaved)
{ {
perf_begin(param_export_perf);
struct param_wbuf_s *s = NULL; struct param_wbuf_s *s = NULL;
struct bson_encoder_s encoder; struct bson_encoder_s encoder;
int result = -1; int result = -1;
@@ -1060,7 +1067,7 @@ param_export(int fd, bool only_unsaved)
/* lock as short as possible */ /* lock as short as possible */
if (bson_encoder_append_int(&encoder, name, i)) { if (bson_encoder_append_int(&encoder, name, i)) {
debug("BSON append failed for '%s'", name); PX4_ERR("BSON append failed for '%s'", name);
goto out; goto out;
} }
} }
@@ -1072,7 +1079,7 @@ param_export(int fd, bool only_unsaved)
const char *name = param_name(s->param); const char *name = param_name(s->param);
if (bson_encoder_append_double(&encoder, name, f)) { if (bson_encoder_append_double(&encoder, name, f)) {
debug("BSON append failed for '%s'", name); PX4_ERR("BSON append failed for '%s'", name);
goto out; goto out;
} }
} }
@@ -1090,14 +1097,15 @@ param_export(int fd, bool only_unsaved)
BSON_BIN_BINARY, BSON_BIN_BINARY,
size, size,
value_ptr)) { value_ptr)) {
debug("BSON append failed for '%s'", name);
PX4_ERR("BSON append failed for '%s'", name);
goto out; goto out;
} }
} }
break; break;
default: default:
debug("unrecognized parameter type"); PX4_ERR("unrecognized parameter type");
goto out; goto out;
} }
@@ -1121,6 +1129,8 @@ out:
px4_shutdown_unlock(); px4_shutdown_unlock();
} }
perf_end(param_export_perf);
return result; return result;
} }
@@ -1208,12 +1218,12 @@ param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node)
} }
if (tmp == NULL) { if (tmp == NULL) {
debug("failed allocating for '%s'", node->name); PX4_ERR("failed allocating for '%s'", node->name);
goto out; goto out;
} }
if (bson_decoder_copy_data(decoder, tmp)) { if (bson_decoder_copy_data(decoder, tmp)) {
debug("failed copying data for '%s'", node->name); PX4_ERR("failed copying data for '%s'", node->name);
goto out; goto out;
} }
@@ -1251,16 +1261,14 @@ static int
param_import_internal(int fd, bool mark_saved) param_import_internal(int fd, bool mark_saved)
{ {
struct bson_decoder_s decoder; struct bson_decoder_s decoder;
int result = -1;
struct param_import_state state; struct param_import_state state;
int result = -1;
if (bson_decoder_init_file(&decoder, fd, param_import_callback, &state)) { if (bson_decoder_init_file(&decoder, fd, param_import_callback, &state)) {
debug("decoder init failed"); PX4_ERR("decoder init failed");
goto out; goto out;
} }
state.mark_saved = mark_saved; state.mark_saved = mark_saved;
do { do {
@@ -1272,7 +1280,7 @@ param_import_internal(int fd, bool mark_saved)
out: out:
if (result < 0) { if (result < 0) {
debug("BSON error decoding parameters"); PX4_ERR("BSON error decoding parameters");
} }
return result; return result;