Moved last libs, drivers and headers, cleaned up IO build

1 files changed, 317 insertions, 0 deletions

diff --git a/src/modules/systemlib/perf_counter.c b/src/modules/systemlib/perf_counter.c
new file mode 100644
index 000000000..879f4715a
--- /dev/null
+++ b/src/modules/systemlib/perf_counter.c
@@ -0,0 +1,317 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * 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 perf_counter.c
+ *
+ * @brief Performance measuring tools.
+ */
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <sys/queue.h>
+#include <drivers/drv_hrt.h>
+
+#include "perf_counter.h"
+
+/**
+ * Header common to all counters.
+ */
+struct perf_ctr_header {
+	sq_entry_t		link;	/**< list linkage */
+	enum perf_counter_type	type;	/**< counter type */
+	const char		*name;	/**< counter name */
+};
+
+/**
+ * PC_EVENT counter.
+ */
+struct perf_ctr_count {
+	struct perf_ctr_header	hdr;
+	uint64_t		event_count;
+};
+
+/**
+ * PC_ELAPSED counter.
+ */
+struct perf_ctr_elapsed {
+	struct perf_ctr_header	hdr;
+	uint64_t		event_count;
+	uint64_t		time_start;
+	uint64_t		time_total;
+	uint64_t		time_least;
+	uint64_t		time_most;
+};
+
+/**
+ * PC_INTERVAL counter.
+ */
+struct perf_ctr_interval {
+	struct perf_ctr_header	hdr;
+	uint64_t		event_count;
+	uint64_t		time_event;
+	uint64_t		time_first;
+	uint64_t		time_last;
+	uint64_t		time_least;
+	uint64_t		time_most;
+
+};
+
+/**
+ * List of all known counters.
+ */
+static sq_queue_t	perf_counters;
+
+
+perf_counter_t
+perf_alloc(enum perf_counter_type type, const char *name)
+{
+	perf_counter_t ctr = NULL;
+
+	switch (type) {
+	case PC_COUNT:
+		ctr = (perf_counter_t)calloc(sizeof(struct perf_ctr_count), 1);
+		break;
+
+	case PC_ELAPSED:
+		ctr = (perf_counter_t)calloc(sizeof(struct perf_ctr_elapsed), 1);
+		break;
+
+	case PC_INTERVAL:
+		ctr = (perf_counter_t)calloc(sizeof(struct perf_ctr_interval), 1);
+		break;
+
+	default:
+		break;
+	}
+
+	if (ctr != NULL) {
+		ctr->type = type;
+		ctr->name = name;
+		sq_addfirst(&ctr->link, &perf_counters);
+	}
+
+	return ctr;
+}
+
+void
+perf_free(perf_counter_t handle)
+{
+	if (handle == NULL)
+		return;
+
+	sq_rem(&handle->link, &perf_counters);
+	free(handle);
+}
+
+void
+perf_count(perf_counter_t handle)
+{
+	if (handle == NULL)
+		return;
+
+	switch (handle->type) {
+	case PC_COUNT:
+		((struct perf_ctr_count *)handle)->event_count++;
+		break;
+
+	case PC_INTERVAL: {
+		struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;
+		hrt_abstime now = hrt_absolute_time();
+
+		switch (pci->event_count) {
+		case 0:
+			pci->time_first = now;
+			break;
+		case 1:
+			pci->time_least = now - pci->time_last;
+			pci->time_most = now - pci->time_last;
+			break;
+		default: {
+			hrt_abstime interval = now - pci->time_last;
+			if (interval < pci->time_least)
+				pci->time_least = interval;
+			if (interval > pci->time_most)
+				pci->time_most = interval;
+			break;
+		}
+		}
+		pci->time_last = now;
+		pci->event_count++;
+		break;
+	}
+
+	default:
+		break;
+	}
+}
+
+void
+perf_begin(perf_counter_t handle)
+{
+	if (handle == NULL)
+		return;
+
+	switch (handle->type) {
+	case PC_ELAPSED:
+		((struct perf_ctr_elapsed *)handle)->time_start = hrt_absolute_time();
+		break;
+
+	default:
+		break;
+	}
+}
+
+void
+perf_end(perf_counter_t handle)
+{
+	if (handle == NULL)
+		return;
+
+	switch (handle->type) {
+	case PC_ELAPSED: {
+			struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
+			hrt_abstime elapsed = hrt_absolute_time() - pce->time_start;
+
+			pce->event_count++;
+			pce->time_total += elapsed;
+
+			if ((pce->time_least > elapsed) || (pce->time_least == 0))
+				pce->time_least = elapsed;
+
+			if (pce->time_most < elapsed)
+				pce->time_most = elapsed;
+		}
+
+	default:
+		break;
+	}
+}
+
+void
+perf_reset(perf_counter_t handle)
+{
+	if (handle == NULL)
+		return;
+
+	switch (handle->type) {
+	case PC_COUNT:
+		((struct perf_ctr_count *)handle)->event_count = 0;
+		break;
+
+	case PC_ELAPSED: {
+		struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
+		pce->event_count = 0;
+		pce->time_start = 0;
+		pce->time_total = 0;
+		pce->time_least = 0;
+		pce->time_most = 0;
+		break;
+	}
+
+	case PC_INTERVAL: {
+		struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;
+		pci->event_count = 0;
+		pci->time_event = 0;
+		pci->time_first = 0;
+		pci->time_last = 0;
+		pci->time_least = 0;
+		pci->time_most = 0;
+		break;
+	}
+	}
+}
+
+void
+perf_print_counter(perf_counter_t handle)
+{
+	if (handle == NULL)
+		return;
+
+	switch (handle->type) {
+	case PC_COUNT:
+		printf("%s: %llu events\n",
+		       handle->name,
+		       ((struct perf_ctr_count *)handle)->event_count);
+		break;
+
+	case PC_ELAPSED: {
+		struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
+
+		printf("%s: %llu events, %lluus elapsed, min %lluus max %lluus\n",
+		       handle->name,
+		       pce->event_count,
+		       pce->time_total,
+		       pce->time_least,
+		       pce->time_most);
+		break;
+	}
+
+	case PC_INTERVAL: {
+		struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;
+
+		printf("%s: %llu events, %llu avg, min %lluus max %lluus\n",
+		       handle->name,
+		       pci->event_count,
+		       (pci->time_last - pci->time_first) / pci->event_count,
+		       pci->time_least,
+		       pci->time_most);
+		break;
+	}
+
+	default:
+		break;
+	}
+}
+
+void
+perf_print_all(void)
+{
+	perf_counter_t handle = (perf_counter_t)sq_peek(&perf_counters);
+
+	while (handle != NULL) {
+		perf_print_counter(handle);
+		handle = (perf_counter_t)sq_next(&handle->link);
+	}
+}
+
+void
+perf_reset_all(void)
+{
+	perf_counter_t handle = (perf_counter_t)sq_peek(&perf_counters);
+
+	while (handle != NULL) {
+		perf_reset(handle);
+		handle = (perf_counter_t)sq_next(&handle->link);
+	}
+}