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combine sys_mon and rtos_mon modules (#1846)

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Only one module (sys_mon) used - it will automatically detect if it is rtos, sim or bare-metal and will send the proper message (RTOS_MON or SYS_MON). Easier to use because the user don't have to change between sys_mon and rtos_mon anymore.
Plus added support for CPU load on SIM targets
This commit is contained in:
Michal Podhradsky
2016-08-22 14:48:13 -07:00
committed by Felix Ruess
parent 5d09b74ddd
commit 41b2e7ec47
12 changed files with 141 additions and 91 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/AGGIEAIR/aggieair_ark_quad_lisa_mx.xml
+1
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@@ -35,6 +35,7 @@
<modules>
<module name="sys_mon"/>
</modules>
<servos driver="Pwm">
conf/airframes/ENAC/fixed-wing/apogee.xml
+1 -1
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@@ -39,7 +39,7 @@
<!-- Sensors -->
<module name="gps" type="ublox"/>
<!--module name="rtos_mon"/-->
<!--module name="sys_mon"/-->
<!--module name="spi_master"/-->
<!-- <module name="mcp355x"> -->
conf/airframes/ENAC/fixed-wing/jp.xml
+1 -1
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@@ -69,7 +69,7 @@
<module name="current_sensor">
<configure name="ADC_CURRENT_SENSOR" value="ADC_2"/>
</module>
<!--module name="rtos_mon"/-->
<!--module name="sys_mon"/-->
</firmware>
<!-- commands section -->
conf/modules/rtos_mon.xml
-26
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@@ -1,26 +0,0 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="rtos_mon" dir="core">
<doc>
<description>
RTOS monitoring tool
Reports:
- CPU load
- core and heap free memory
- number of threads, their load and free stack.
Can be used with ChibiOS implementation
</description>
</doc>
<header>
<file name="rtos_mon.h"/>
</header>
<init fun="rtos_mon_init()"/>
<periodic fun="rtos_mon_periodic()" freq="1" autorun="TRUE"/>
<makefile target="!nps">
<file name="rtos_mon.c"/>
<file_arch name="rtos_mon_arch.c"/>
</makefile>
</module>
conf/modules/sys_mon.xml
+29 -6
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@@ -5,8 +5,9 @@
<description>
System monitor.
The sys_mon module gives you some information about the timing of the periodic tasks and a rough estimate of cpu load (averaged over 1 sec).
For systems with RTOS it also gives you stats about threads and memory usage.
The SYS_MON message contains the following information (all times are given in microseconds):
For bare-metal systems, the SYS_MON message contains the following information (all times are given in microseconds):
- @b periodic_time : time between two calls of the modules_periodic_task (averaged over 1s)
- @b periodic_time_min : minimum time between two calls of the modules_periodic_task() during the last second
- @b periodic_time_max : maximum time between two calls of the modules_periodic_task() during the last second
@@ -15,15 +16,22 @@ The SYS_MON message contains the following information (all times are given in m
- @b periodic_cycle_max : maximum time it took to execute the main periodic functions during the last second
- @b event_number : number of times the event loop was called during the last second
- @b cpu_load : rough estimate of cpu load (averaged over 1 sec)
- @b cpu_time : time in seconds since start-up
So your periodic_time should be 1/MODULES_FREQUENCY, which should be the same as 1/PERIODIC_FREQUENCY
The periodic_cycle_max should not be over the periodic_time, otherwise in at least one cycle it took longer to calculate everything and the next one was slightly delayed.
The sys_mon module has to run at the full main frequency!
So either don't specify a main_freq parameter for the modules node or set your actual main frequency
For systems with RTOS, RTOS_MON message is sent instead and the following information are shown:
- @b nb_thread : number of threads running
- @b cpu_load : rough estimate of cpu load (averaged over 1 sec)
- @b core_free : Core free memory (bytes)
- @b heap_free : Heap free memory (bytes)
- @b cpu_time : time in seconds since start-up
Again, the sys_mon module has to run at the full main frequency (so the reports are generated at 1 second intervals).
</description>
</doc>
<header>
@@ -33,8 +41,23 @@ So either don't specify a main_freq parameter for the modules node or set your a
<periodic fun="periodic_report_sysmon()" freq="1."/>
<periodic fun="periodic_sysmon()"/>
<event fun="event_sysmon()"/>
<makefile target="ap">
<file name="sys_mon.c"/>
<raw>
# for ChibiOS arch include rtos_mon.c and rtos_mon_arch.c
ifeq ($(ARCH), chibios)
$(TARGET).srcs += $(SRC_MODULES)/core/rtos_mon.c
$(TARGET).srcs += $(SRC_ARCH)/modules/core/rtos_mon_arch.c
else
# for all other architecture use existing sys_mon.c
$(TARGET).srcs += $(SRC_MODULES)/core/sys_mon.c
endif
</raw>
</makefile>
<makefile target="nps">
<file name="rtos_mon.c"/>
<file_arch name="rtos_mon_arch.c"/>
</makefile>
</module>
sw/airborne/arch/chibios/modules/core/rtos_mon_arch.c
+2 -7
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@@ -24,11 +24,8 @@
* ChibiOS implementation
*/
#include "modules/core/rtos_mon.h"
#include "modules/core/rtos_mon_arch.h"
#include "subsystems/datalink/downlink.h"
#include "modules/core/sys_mon_rtos.h"
#include <ch.h>
#include <string.h>
#if !CH_DBG_THREADS_PROFILING
#error CH_DBG_THREADS_PROFILING should be defined to TRUE to use this monitoring tool
@@ -91,11 +88,9 @@ void rtos_mon_periodic_arch(void)
// assume we call the counter once a second
// so the difference in seconds is always one
// NOTE: not perfectly precise
// FIXME: add finer resolution than seconds?
// NOTE: not perfectly precise, +-5% on average so take it into consideration
rtos_mon.cpu_load = (1 - (float)(idle_counter - last_idle_counter) / CH_CFG_ST_FREQUENCY) * 100;
last_idle_counter = idle_counter;
}
static uint16_t get_stack_free(const thread_t *tp)
sw/airborne/arch/chibios/modules/core/rtos_mon_arch.h → sw/airborne/arch/sim/modules/core/rtos_mon_arch.c
+25 -11
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@@ -1,5 +1,6 @@
/*
* Copyright (C) 2016 Gautier Hattenberger <gautier.hattenberger@enac.fr>
* Copyright (C) 2016 Michal Podhradsky <michal.podhradsky@aggiemail.usu.edu>
*
* This file is part of paparazzi
*
@@ -18,19 +19,32 @@
* <http://www.gnu.org/licenses/>.
*/
/**
* @file "arch/chibios/modules/core/rtos_mon_arch.h"
* @author Gautier Hattenberger
* RTOS monitoring tool
* ChibiOS implementation
* @file "arch/sim/modules/core/rtos_mon_arch.c"
* @author Michal Podhradsky
* System monitoring tool
* SIM implementation
*/
#ifndef RTOS_MON_ARCH_H
#define RTOS_MON_ARCH_H
#include "modules/core/sys_mon_rtos.h"
#include <stdlib.h> /* atof */
#include <stdio.h> /* printf, fgets */
#include <string.h>
// Init function
extern void rtos_mon_init_arch(void);
// Periodic report
extern void rtos_mon_periodic_arch(void);
void rtos_mon_init_arch(void) {}
#endif
// Ask for CPU usage of the process
void rtos_mon_periodic_arch(void)
{
char line[20];
FILE *cmd = popen("ps -C simsitl -o %CPU", "r");
char *ret;
ret = fgets(line, sizeof(line), cmd);
ret = fgets(line, sizeof(line), cmd);
if (ret != NULL) {
double cpu = atof(ret);
rtos_mon.cpu_load = (uint8_t)cpu;
}
pclose(cmd);
}
sw/airborne/modules/core/rtos_mon.c
+6 -5
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@@ -23,14 +23,13 @@
* RTOS monitoring tool
*/
#include "modules/core/rtos_mon.h"
#include "modules/core/rtos_mon_arch.h"
#include "modules/core/sys_mon.h"
#include "modules/core/sys_mon_rtos.h"
#include "subsystems/datalink/downlink.h"
#include <string.h>
struct rtos_monitoring rtos_mon;
void rtos_mon_init(void)
void init_sysmon(void)
{
// zero structure
memset(&rtos_mon, 0, sizeof(struct rtos_monitoring));
@@ -41,7 +40,7 @@ void rtos_mon_init(void)
// Periodic report of RTOS parameters
// This function is actually arch dependent
void rtos_mon_periodic(void)
void periodic_report_sysmon(void)
{
// update struct
rtos_mon_periodic_arch();
@@ -59,4 +58,6 @@ void rtos_mon_periodic(void)
}
void periodic_sysmon(void) {}
void event_sysmon(void) {}
sw/airborne/modules/core/sys_mon.c
+10 -4
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@@ -19,10 +19,20 @@
* Boston, MA 02111-1307, USA.
*
*/
/** \file sys_mon.c
*
* System monitoring for bare metal targets
* return cpu load, average exec time, ...
*/
#include "core/sys_mon.h"
#include "core/sys_mon_bare_metal.h"
#include "mcu_periph/sys_time.h"
#include "mcu_periph/uart.h"
#include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h"
/** Global system monitor data (averaged over 1 sec) */
struct SysMon sys_mon;
@@ -60,10 +70,6 @@ void init_sysmon(void)
periodic_timer = 0;
}
#include "mcu_periph/uart.h"
#include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h"
void periodic_report_sysmon(void)
{
/** Report system status at low frequency */
sw/airborne/modules/core/sys_mon.h
+1 -15
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@@ -22,7 +22,7 @@
/** \file sys_mon.h
*
* System monitoring
* System monitoring common header
* return cpu load, average exec time, ...
*/
@@ -31,20 +31,6 @@
#include "std.h"
struct SysMon {
uint8_t cpu_load;
uint16_t periodic_time; ///< in usec
uint16_t periodic_time_min; ///< in usec
uint16_t periodic_time_max; ///< in usec
uint16_t periodic_cycle; ///< in usec
uint16_t periodic_cycle_min; ///< in usec
uint16_t periodic_cycle_max; ///< in usec
uint16_t event_number;
float cpu_time; // in secs since startup
};
extern struct SysMon sys_mon;
/** Init system monitoring
*/
void init_sysmon(void);
sw/airborne/modules/core/sys_mon_bare_metal.h
+48
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@@ -0,0 +1,48 @@
/*
* Copyright (C) 2016 Gautier Hattenberger <gautier.hattenberger@enac.fr>
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
/** \file sys_mon.h
*
* System monitoring
* return cpu load, average exec time, ...
*/
#ifndef SYS_MON_BARE_METAL_H
#define SYS_MON_BARE_METAL_H
#include "core/sys_mon.h"
struct SysMon {
uint8_t cpu_load;
uint16_t periodic_time; ///< in usec
uint16_t periodic_time_min; ///< in usec
uint16_t periodic_time_max; ///< in usec
uint16_t periodic_cycle; ///< in usec
uint16_t periodic_cycle_min; ///< in usec
uint16_t periodic_cycle_max; ///< in usec
uint16_t event_number;
float cpu_time; // in secs since startup
};
extern struct SysMon sys_mon;
#endif /* SYS_MON_BARE_METAL_H */
sw/airborne/modules/core/rtos_mon.h → sw/airborne/modules/core/sys_mon_rtos.h
+17 -15
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@@ -1,7 +1,7 @@
/*
* Copyright (C) 2016 Gautier Hattenberger <gautier.hattenberger@enac.fr>
*
* This file is part of paparazzi
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
@@ -14,19 +14,22 @@
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, see
* <http://www.gnu.org/licenses/>.
*/
/**
* @file "modules/core/rtos_mon.h"
* @author Gautier Hattenberger
* RTOS monitoring tool
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
#ifndef RTOS_MON_H
#define RTOS_MON_H
/** \file sys_mon_rtos.h
*
* System monitoring for RTOS targets
* return cpu load, average exec time, ...
*/
#include "std.h"
#ifndef SYS_MON_RTOS_H
#define SYS_MON_RTOS_H
#include "core/sys_mon.h"
// Maximum number of threads
// The limit is related to the max size of the report message
@@ -55,9 +58,8 @@ struct rtos_monitoring {
extern struct rtos_monitoring rtos_mon;
// Init function
extern void rtos_mon_init(void);
extern void rtos_mon_init_arch(void);
// Periodic report
extern void rtos_mon_periodic(void);
#endif
extern void rtos_mon_periodic_arch(void);
#endif /* SYS_MON_RTOS_H */