mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-10 18:24:11 +01:00
e4d9ef98a5
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2944 ebee16cc-31ac-478f-84a7-5cbb03baadba
129 lines
3.2 KiB
C
129 lines
3.2 KiB
C
/**
|
|
******************************************************************************
|
|
* @addtogroup OpenPilotSystem OpenPilot System
|
|
* @{
|
|
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
|
|
* @{
|
|
* @file taskmonitor.h
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
|
* @brief Task monitoring library
|
|
* @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
|
|
*/
|
|
#include "openpilot.h"
|
|
//#include "taskmonitor.h"
|
|
|
|
// Private constants
|
|
|
|
// Private types
|
|
|
|
// Private variables
|
|
static xSemaphoreHandle lock;
|
|
static xTaskHandle handles[TASKINFO_RUNNING_NUMELEM];
|
|
|
|
// Private functions
|
|
|
|
/**
|
|
* Initialize library
|
|
*/
|
|
int32_t TaskMonitorInitialize(void)
|
|
{
|
|
lock = xSemaphoreCreateRecursiveMutex();
|
|
memset(handles, 0, sizeof(xTaskHandle)*TASKINFO_RUNNING_NUMELEM);
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* Register a task handle with the library
|
|
*/
|
|
int32_t TaskMonitorAdd(TaskInfoRunningElem task, xTaskHandle handle)
|
|
{
|
|
if (task < TASKINFO_RUNNING_NUMELEM)
|
|
{
|
|
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
|
|
handles[task] = handle;
|
|
xSemaphoreGiveRecursive(lock);
|
|
return 0;
|
|
}
|
|
else
|
|
{
|
|
return -1;
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Remove a task handle from the library
|
|
*/
|
|
int32_t TaskMonitorRemove(TaskInfoRunningElem task)
|
|
{
|
|
if (task < TASKINFO_RUNNING_NUMELEM)
|
|
{
|
|
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
|
|
handles[task] = 0;
|
|
xSemaphoreGiveRecursive(lock);
|
|
return 0;
|
|
}
|
|
else
|
|
{
|
|
return -1;
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Update the status of all tasks
|
|
*/
|
|
void TaskMonitorUpdateAll(void)
|
|
{
|
|
TaskInfoData data;
|
|
int n;
|
|
|
|
// Lock
|
|
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
|
|
|
|
// Update all task information
|
|
for (n = 0; n < TASKINFO_RUNNING_NUMELEM; ++n)
|
|
{
|
|
if (handles[n] != 0)
|
|
{
|
|
data.Running[n] = TASKINFO_RUNNING_TRUE;
|
|
#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
|
|
data.StackRemaining[n] = 10000;
|
|
#else
|
|
data.StackRemaining[n] = uxTaskGetStackHighWaterMark(handles[n]) * 4;
|
|
#if ( configGENERATE_RUN_TIME_STATS == 1 )
|
|
/* Generate run time stats */
|
|
data.RunningTime[n] = 100 * (float) uxTaskGetRunTime(handles[n]) / portGET_RUN_TIME_COUNTER_VALUE();
|
|
#endif
|
|
#endif
|
|
|
|
}
|
|
else
|
|
{
|
|
data.Running[n] = TASKINFO_RUNNING_FALSE;
|
|
data.StackRemaining[n] = 0;
|
|
data.RunningTime[n] = 0;
|
|
}
|
|
}
|
|
|
|
// Update object
|
|
TaskInfoSet(&data);
|
|
|
|
// Done
|
|
xSemaphoreGiveRecursive(lock);
|
|
}
|