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LibrePilot/flight/pios/inc/pios_task_monitor.h

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/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
* @{
* @file task_monitor.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
* @brief Task monitoring functions
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program 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 3 of the License, or
* (at your option) any later version.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_TASK_MONITOR_H
#define PIOS_TASK_MONITOR_H
#include <stdbool.h>
/**
* Initializes the Task Monitor.
*
* For correct results, this must be called prior to any calls to other
* task monitoring functions. The task_ids of the monitored tasks must
* be in the range [0, max_tasks-1].
* Initially, all tasks are marked as not running.
*
* @param max_tasks The maximum number of tasks that will be monitored.
* @return 0 on success, -1 on failure.
*/
extern int32_t PIOS_TASK_MONITOR_Initialize(uint16_t max_tasks);
/**
* Registers a task with the task monitor.
* A task that has been registered will be marked as running.
*
* @param task_id The id of the task to register. Must be in the range [0, max_tasks-1].
* @param handle The FreeRTOS xTaskHandle of the running task.
* @return 0 on success, -1 on failure.
*/
extern int32_t PIOS_TASK_MONITOR_RegisterTask(uint16_t task_id, xTaskHandle handle);
/**
* Unregisters a task with the task monitor.
* A task that has been unregistered will be marked as not running.
*
* @param task_id The id of the task to unregister. Must be in the range [0, max_tasks-1].
* @return 0 on success, -1 on failure.
*/
extern int32_t PIOS_TASK_MONITOR_UnregisterTask(uint16_t task_id);
/**
* Checks if a given task is running.
* A task that has not been registered will be marked as not running.
*
* @param task_id The id of the task to check. Must be in the range [0, max_tasks-1].
* @return true if the task is running.
*/
extern bool PIOS_TASK_MONITOR_IsRunning(uint16_t task_id);
/**
* Information about a running task that has been registered
* via a call to PIOS_TASK_MONITOR_Add().
*/
struct pios_task_info {
/** Remaining task stack in bytes. */
uint32_t stack_remaining;
/** Flag indicating whether or not the task is running. */
bool is_running;
/** Percentage of cpu time used by the task since the last call
* to PIOS_TASK_MONITOR_ForEachTask(). Low-load tasks may
* report 0% load even though they have run during the interval. */
uint8_t running_time_percentage;
};
/**
* Iterator callback, called for each monitored task by PIOS_TASK_MONITOR_TasksIterate().
*
* @param task_id The id of the task the task_info refers to.
* @param task_info Information about the task identified by task_id.
* @param context Context information optionally provided by the caller to PIOS_TASK_MONITOR_TasksIterate()
*/
typedef void (*TaskMonitorTaskInfoCallback)(uint16_t task_id, const struct pios_task_info *task_info, void *context);
/**
* Iterator callback, called for each monitored task by PIOS_TASK_MONITOR_TasksIterate().
*
* @param task_id The id of the task the task_info refers to.
* @param task_info Information about the task identified by task_id.
* @param context Context information optionally provided by the caller to PIOS_TASK_MONITOR_TasksIterate()
*/
extern void PIOS_TASK_MONITOR_ForEachTask(TaskMonitorTaskInfoCallback callback, void *context);
/**
* Return the idle task running time percentage.
*/
extern uint8_t PIOS_TASK_MONITOR_GetIdlePercentage();
#endif // PIOS_TASK_MONITOR_H