combine sys_mon and rtos_mon modules (#1846)

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

conf/airframes/AGGIEAIR/aggieair_ark_quad_lisa_mx.xml

@@ -35,6 +35,7 @@
 
 
   <modules>
+    <module name="sys_mon"/>
   </modules>
 
   <servos driver="Pwm">

conf/airframes/ENAC/fixed-wing/apogee.xml

@@ -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

@@ -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

@@ -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

@@ -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

@@ -24,11 +24,8 @@
  * ChibiOS implementation
  */
 
-#include "modules/core/rtos_mon.h"
+#include "modules/core/sys_mon_rtos.h"
-#include "modules/core/rtos_mon_arch.h"
-#include "subsystems/datalink/downlink.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
+  // NOTE: not perfectly precise, +-5% on average so take it into consideration
-  // FIXME: add finer resolution than seconds?
   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/sim/modules/core/rtos_mon_arch.c

@@ -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"
+ * @file "arch/sim/modules/core/rtos_mon_arch.c"
- * @author Gautier Hattenberger
+ * @author Michal Podhradsky
- * RTOS monitoring tool
+ * System monitoring tool
- * ChibiOS implementation
+ * SIM implementation
  */
 
-#ifndef RTOS_MON_ARCH_H
+#include "modules/core/sys_mon_rtos.h"
-#define RTOS_MON_ARCH_H
+#include <stdlib.h>     /* atof */
+#include <stdio.h>      /* printf, fgets */
+#include <string.h>
 
-// Init function
+void rtos_mon_init_arch(void) {}
-extern void rtos_mon_init_arch(void);
-// Periodic report
-extern void rtos_mon_periodic_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

@@ -23,14 +23,13 @@
  * RTOS monitoring tool
  */
 
-#include "modules/core/rtos_mon.h"
+#include "modules/core/sys_mon.h"
-#include "modules/core/rtos_mon_arch.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

@@ -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

@@ -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

@@ -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/sys_mon_rtos.h

@@ -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
+ * along with paparazzi; see the file COPYING.  If not, write to
- * <http://www.gnu.org/licenses/>.
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
- */
+ * Boston, MA 02111-1307, USA.
-/**
+ *
- * @file "modules/core/rtos_mon.h"
- * @author Gautier Hattenberger
- * RTOS monitoring tool
  */
 
-#ifndef RTOS_MON_H
+/** \file sys_mon_rtos.h
-#define RTOS_MON_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);
+extern void rtos_mon_periodic_arch(void);
-
-#endif
 
+#endif /* SYS_MON_RTOS_H */