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/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
*
* 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.
*
****************************************************************************/
/**
* @file cpuload.c
*
* Measurement of CPU load of each individual task.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
*/
#include <nuttx/config.h>
#include <nuttx/sched.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <arch/arch.h>
#include <debug.h>
#include <sys/time.h>
#include <arch/board/board.h>
#include <drivers/drv_hrt.h>
#include "cpuload.h"
#ifdef CONFIG_SCHED_INSTRUMENTATION
__EXPORT void sched_note_start(FAR struct tcb_s *tcb);
__EXPORT void sched_note_stop(FAR struct tcb_s *tcb);
__EXPORT void sched_note_switch(FAR struct tcb_s *pFromTcb, FAR struct tcb_s *pToTcb);
__EXPORT struct system_load_s system_load;
extern FAR struct tcb_s *sched_gettcb(pid_t pid);
void cpuload_initialize_once()
{
system_load.start_time = hrt_absolute_time();
int i;
for (i = 0; i < CONFIG_MAX_TASKS; i++) {
system_load.tasks[i].valid = false;
}
uint64_t now = hrt_absolute_time();
int static_tasks_count = 2; // there are at least 2 threads that should be initialized statically - "idle" and "init"
#ifdef CONFIG_PAGING
static_tasks_count++; // include paging thread in initialization
#endif /* CONFIG_PAGING */
#if CONFIG_SCHED_WORKQUEUE
static_tasks_count++; // include high priority work0 thread in initialization
#endif /* CONFIG_SCHED_WORKQUEUE */
#if CONFIG_SCHED_LPWORK
static_tasks_count++; // include low priority work1 thread in initialization
#endif /* CONFIG_SCHED_WORKQUEUE */
// perform static initialization of "system" threads
for (system_load.total_count = 0; system_load.total_count < static_tasks_count; system_load.total_count++) {
system_load.tasks[system_load.total_count].start_time = now;
system_load.tasks[system_load.total_count].total_runtime = 0;
system_load.tasks[system_load.total_count].curr_start_time = 0;
system_load.tasks[system_load.total_count].tcb = sched_gettcb(system_load.total_count); // it is assumed that these static threads have consecutive PIDs
system_load.tasks[system_load.total_count].valid = true;
}
}
void sched_note_start(FAR struct tcb_s *tcb)
{
/* search first free slot */
int i;
for (i = 1; i < CONFIG_MAX_TASKS; i++) {
if (!system_load.tasks[i].valid) {
/* slot is available */
system_load.tasks[i].start_time = hrt_absolute_time();
system_load.tasks[i].total_runtime = 0;
system_load.tasks[i].curr_start_time = 0;
system_load.tasks[i].tcb = tcb;
system_load.tasks[i].valid = true;
system_load.total_count++;
break;
}
}
}
void sched_note_stop(FAR struct tcb_s *tcb)
{
int i;
for (i = 1; i < CONFIG_MAX_TASKS; i++) {
if (system_load.tasks[i].tcb->pid == tcb->pid) {
/* mark slot as fee */
system_load.tasks[i].valid = false;
system_load.tasks[i].total_runtime = 0;
system_load.tasks[i].curr_start_time = 0;
system_load.tasks[i].tcb = NULL;
system_load.total_count--;
break;
}
}
}
void sched_note_switch(FAR struct tcb_s *pFromTcb, FAR struct tcb_s *pToTcb)
{
uint64_t new_time = hrt_absolute_time();
/* Kind of inefficient: find both tasks and update times */
uint8_t both_found = 0;
for (int i = 0; i < CONFIG_MAX_TASKS; i++) {
/* Task ending its current scheduling run */
if (system_load.tasks[i].tcb->pid == pFromTcb->pid) {
//if (system_load.tasks[i].curr_start_time != 0)
{
system_load.tasks[i].total_runtime += new_time - system_load.tasks[i].curr_start_time;
}
both_found++;
} else if (system_load.tasks[i].tcb->pid == pToTcb->pid) {
system_load.tasks[i].curr_start_time = new_time;
both_found++;
}
/* Do only iterate as long as needed */
if (both_found == 2) {
break;
}
}
}
#endif /* CONFIG_SCHED_INSTRUMENTATION */
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