1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
|
/****************************************************************************
*
* 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 *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 */
|
