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123 lines
4.9 KiB
C
123 lines
4.9 KiB
C
/**
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******************************************************************************
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*
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* @file pios_instrumentation_helper.h
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* @author The LibrePilot Project, http://www.librepilot.org, Copyright (C) 2016
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* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
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* @brief Macros to easily add optional performance monitoring to a module
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*
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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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/**
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* @addtogroup PIOS PiOS Instrumentation Support
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* @{
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*/
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/**
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* \par
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* This is a collections of helper macros that ease adding instrumentation support.
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* \par
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* Step by step guide:
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*
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* Define PIOS_INSTRUMENT_MODULE before including this file to enable instrumentation for a module
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*
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* <pre>#define PIOS_INSTRUMENT_MODULE
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* #include <pios_instrumentation_helper.h></pre>
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*
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* Declare the variables used to hold counter handlers.
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* Place the following code along all module variables declaration.
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* <pre>PERF_DEFINE_COUNTER(counterUpd);
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* PERF_DEFINE_COUNTER(counterAccelSamples);
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* PERF_DEFINE_COUNTER(counterPeriod);
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* PERF_DEFINE_COUNTER(counterAtt);</pre>
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*
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* Counters needs to be initialized before they are used.
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* The following code needs to be added to a function called at module initialization.
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* the second parameter is a unique counter Id.
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* A good pracice is to use the upper half word as module id and lower as counter id
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* Optionally three strings containing Module Name, Counter description and unit of measure can be passed.
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* Those strings will be used in future to automatically extract the list of counters from code to managed
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* by GCS or some other custom tool.
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*
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* PERF_INIT_COUNTER(counterVariable, id, "MODULE NAME","COUNTER DESCRIPTION","UNIT OF MEASURE");
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*
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* <pre>PERF_INIT_COUNTER(counterUpd, 0xA7710001, "ATTITUDE", "Sensor update execution time", "us");
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* PERF_INIT_COUNTER(counterAtt, 0xA7710002, "ATTITUDE", "Attitude estimation execution time", "us");
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* PERF_INIT_COUNTER(counterPeriod, 0xA7710003, "ATTITUDE", "Sensor update period", "us");
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* PERF_INIT_COUNTER(counterAccelSamples, 0xA7710004, "ATTITUDE", "Samples for each sensor cycle", "count");</pre>
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*
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* At this point you can start using the counters as in the following samples
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*
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* Track the time spent on a certain function:
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* <pre>PERF_TIMED_SECTION_START(counterAtt);
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* updateAttitude(&accelState, &gyros);
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* PERF_TIMED_SECTION_END(counterAtt);</pre>
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* PERF_TIMED_SECTION_[START!STOP] marks the beginning and the end of the code to monitor
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*
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* Measure the mean of the period a certain point is reached:
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* <pre>PERF_MEASURE_PERIOD(counterPeriod);</pre>
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* Note that the value stored in the counter is a long running mean while max and min are single point values
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*
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* Track an user defined int32_t value:
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* <pre>PERF_TRACK_VALUE(counterAccelSamples, i);</pre>
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* the counter is then updated with the value of i.
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*
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* \par
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*/
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#ifndef PIOS_INSTRUMENTATION_HELPER_H
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#define PIOS_INSTRUMENTATION_HELPER_H
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#if defined(PIOS_INCLUDE_INSTRUMENTATION) && defined(PIOS_INSTRUMENT_MODULE)
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#include <pios_instrumentation.h>
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/**
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* include the following macro together with modules variable declaration
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*/
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#define PERF_DEFINE_COUNTER(x) static pios_counter_t x
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/**
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* this mast be called at some module init code
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*/
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#define PERF_INIT_COUNTER(x, id, ...) x = PIOS_Instrumentation_CreateCounter(id)
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/**
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* those are the monitoring macros
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*/
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#define PERF_TIMED_SECTION_START(x) PIOS_Instrumentation_TimeStart(x)
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#define PERF_TIMED_SECTION_END(x) PIOS_Instrumentation_TimeEnd(x)
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#define PERF_MEASURE_PERIOD(x) PIOS_Instrumentation_TrackPeriod(x)
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#define PERF_TRACK_VALUE(x, y) PIOS_Instrumentation_updateCounter(x, y)
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#define PERF_INCREMENT_VALUE(x) PIOS_Instrumentation_incrementCounter(x, 1)
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#define PERF_DECREMENT_VALUE(x) PIOS_Instrumentation_incrementCounter(x, -1)
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#else
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#define PERF_DEFINE_COUNTER(x)
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#define PERF_INIT_COUNTER(x, id, ...)
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#define PERF_TIMED_SECTION_START(x)
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#define PERF_TIMED_SECTION_END(x)
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#define PERF_MEASURE_PERIOD(x)
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#define PERF_TRACK_VALUE(x, y) (void)y
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#define PERF_INCREMENT_VALUE(x)
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#define PERF_DECREMENT_VALUE(x)
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#endif /* PIOS_INCLUDE_INSTRUMENTATION */
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#endif /* PIOS_INSTRUMENTATION_HELPER_H */
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