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151 lines
3.8 KiB
C
151 lines
3.8 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 taskmonitor.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Task monitoring library
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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 "openpilot.h"
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//#include "taskmonitor.h"
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// Private constants
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// Private types
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// Private variables
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static xSemaphoreHandle lock;
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static xTaskHandle handles[TASKINFO_RUNNING_NUMELEM];
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static uint32_t lastMonitorTime;
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// Private functions
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/**
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* Initialize library
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*/
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int32_t TaskMonitorInitialize(void)
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{
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lock = xSemaphoreCreateRecursiveMutex();
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memset(handles, 0, sizeof(xTaskHandle)*TASKINFO_RUNNING_NUMELEM);
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lastMonitorTime = 0;
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#if defined(DIAGNOSTICS)
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lastMonitorTime = portGET_RUN_TIME_COUNTER_VALUE();
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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 with the library
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*/
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int32_t TaskMonitorAdd(TaskInfoRunningElem task, xTaskHandle handle)
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{
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if (task < TASKINFO_RUNNING_NUMELEM)
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{
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xSemaphoreTakeRecursive(lock, portMAX_DELAY);
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handles[task] = handle;
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xSemaphoreGiveRecursive(lock);
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return 0;
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}
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else
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{
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return -1;
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}
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}
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/**
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* Remove a task handle from the library
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*/
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int32_t TaskMonitorRemove(TaskInfoRunningElem task)
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{
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if (task < TASKINFO_RUNNING_NUMELEM)
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{
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xSemaphoreTakeRecursive(lock, portMAX_DELAY);
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handles[task] = 0;
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xSemaphoreGiveRecursive(lock);
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return 0;
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}
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else
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{
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return -1;
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}
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}
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/**
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* Update the status of all tasks
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*/
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void TaskMonitorUpdateAll(void)
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{
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#if defined(DIAGNOSTICS)
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TaskInfoData data;
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int n;
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// Lock
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xSemaphoreTakeRecursive(lock, portMAX_DELAY);
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#if ( configGENERATE_RUN_TIME_STATS == 1 )
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uint32_t currentTime;
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uint32_t deltaTime;
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/*
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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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*/
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currentTime = portGET_RUN_TIME_COUNTER_VALUE();
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deltaTime = ((currentTime - lastMonitorTime) / 100) ? : 1; /* avoid divide-by-zero if the interval is too small */
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lastMonitorTime = currentTime;
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#endif
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// Update all task information
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for (n = 0; n < TASKINFO_RUNNING_NUMELEM; ++n)
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{
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if (handles[n] != 0)
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{
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data.Running[n] = TASKINFO_RUNNING_TRUE;
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#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
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data.StackRemaining[n] = 10000;
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#else
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data.StackRemaining[n] = uxTaskGetStackHighWaterMark(handles[n]) * 4;
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#if ( configGENERATE_RUN_TIME_STATS == 1 )
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/* Generate run time stats */
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data.RunningTime[n] = uxTaskGetRunTime(handles[n]) / deltaTime;
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#endif
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#endif
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}
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else
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{
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data.Running[n] = TASKINFO_RUNNING_FALSE;
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data.StackRemaining[n] = 0;
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data.RunningTime[n] = 0;
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}
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}
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// Update object
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TaskInfoSet(&data);
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// Done
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xSemaphoreGiveRecursive(lock);
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#endif
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}
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