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84e1a81f8b
This move and rework also breaks the dependency of the task monitor on the UAVO subsystem, and pushes the responsibility for updating the TaskInfo UAVO into the System module. +review OPReview
145 lines
4.1 KiB
C
145 lines
4.1 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotSystem OpenPilot System
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* @{
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* @addtogroup OpenPilotLibraries OpenPilot System Libraries
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* @{
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* @file pios_task_monitor.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Task monitoring functions
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include <pios.h>
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#ifdef PIOS_INCLUDE_TASK_MONITOR
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// Private variables
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static xSemaphoreHandle mLock;
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static xTaskHandle *mTaskHandles;
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static uint32_t mLastMonitorTime;
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static uint16_t mMaxTasks;
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/**
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* Initialize the Task Monitor
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*/
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int32_t PIOS_TASK_MONITOR_Initialize(uint16_t max_tasks)
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{
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mLock = xSemaphoreCreateRecursiveMutex();
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if (!mLock) { return -1; }
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mTaskHandles = (xTaskHandle*)pvPortMalloc(max_tasks * sizeof(xTaskHandle));
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if (!mTaskHandles) { return -1; }
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memset(mTaskHandles, 0, max_tasks * sizeof(xTaskHandle));
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mMaxTasks = max_tasks;
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#if (configGENERATE_RUN_TIME_STATS == 1)
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mLastMonitorTime = portGET_RUN_TIME_COUNTER_VALUE();
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#else
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mLastMonitorTime = 0;
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#endif
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return 0;
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}
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/**
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* Register a task handle
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*/
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int32_t PIOS_TASK_MONITOR_RegisterTask(uint16_t task_id, xTaskHandle handle)
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{
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if (mTaskHandles && task_id < mMaxTasks) {
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xSemaphoreTakeRecursive(mLock, portMAX_DELAY);
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mTaskHandles[task_id] = handle;
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xSemaphoreGiveRecursive(mLock);
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return 0;
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} else {
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return -1;
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}
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}
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/**
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* Unregister a task handle
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*/
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int32_t PIOS_TASK_MONITOR_UnregisterTask(uint16_t task_id)
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{
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if (mTaskHandles && task_id < mMaxTasks) {
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xSemaphoreTakeRecursive(mLock, portMAX_DELAY);
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mTaskHandles[task_id] = 0;
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xSemaphoreGiveRecursive(mLock);
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return 0;
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} else {
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return -1;
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}
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}
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/**
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* Query if a task is running
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*/
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bool PIOS_TASK_MONITOR_IsRunning(uint16_t task_id)
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{
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return (mTaskHandles && task_id <= mMaxTasks && mTaskHandles[task_id]);
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}
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/**
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* Tell the caller the status of all tasks via a task-by-task callback
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*/
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void PIOS_TASK_MONITOR_ForEachTask(TaskMonitorTaskInfoCallback callback, void *context)
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{
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if (!mTaskHandles) { return; }
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xSemaphoreTakeRecursive(mLock, portMAX_DELAY);
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#if (configGENERATE_RUN_TIME_STATS == 1)
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/* Calculate the amount of elapsed run time between the last time we
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* measured and now. Scale so that we can convert task run times
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* directly to percentages. */
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uint32_t currentTime = portGET_RUN_TIME_COUNTER_VALUE();
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/* avoid divide-by-zero if the interval is too small */
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uint32_t deltaTime = ((currentTime - mLastMonitorTime)/100) ? : 1;
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mLastMonitorTime = currentTime;
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#endif
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/* Update all task information */
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for (uint16_t n = 0; n < mMaxTasks; ++n) {
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struct pios_task_info info;
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if (mTaskHandles[n]) {
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info.is_running = true;
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#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
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info.stack_remaining = 10000;
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#else
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info.stack_remaining = uxTaskGetStackHighWaterMark(mTaskHandles[n]) * 4;
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#endif
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#if (configGENERATE_RUN_TIME_STATS == 1)
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/* Generate run time percentage stats */
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info.running_time_percentage = uxTaskGetRunTime(mTaskHandles[n])/deltaTime;
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#else
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info.running_time_percentage = 0;
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#endif
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} else {
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info.is_running = false;
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info.stack_remaining = 0;
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info.running_time_percentage = 0;
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}
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/* Pass the information for this task back to the caller */
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callback(n, &info, context);
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}
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xSemaphoreGiveRecursive(mLock);
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}
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#endif // PIOS_INCLUDE_TASK_MONITOR
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