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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
108 lines
4.1 KiB
C
108 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 task_monitor.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
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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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#ifndef PIOS_TASK_MONITOR_H
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#define PIOS_TASK_MONITOR_H
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#include <stdbool.h>
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/**
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* Initializes the Task Monitor.
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*
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* For correct results, this must be called prior to any calls to other
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* task monitoring functions. The task_ids of the monitored tasks must
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* be in the range [0, max_tasks-1].
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* Initially, all tasks are marked as not running.
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*
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* @param max_tasks The maximum number of tasks that will be monitored.
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* @return 0 on success, -1 on failure.
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*/
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extern int32_t PIOS_TASK_MONITOR_Initialize(uint16_t max_tasks);
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/**
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* Registers a task with the task monitor.
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* A task that has been registered will be marked as running.
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*
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* @param task_id The id of the task to register. Must be in the range [0, max_tasks-1].
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* @param handle The FreeRTOS xTaskHandle of the running task.
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* @return 0 on success, -1 on failure.
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*/
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extern int32_t PIOS_TASK_MONITOR_RegisterTask(uint16_t task_id, xTaskHandle handle);
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/**
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* Unregisters a task with the task monitor.
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* A task that has been unregistered will be marked as not running.
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*
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* @param task_id The id of the task to unregister. Must be in the range [0, max_tasks-1].
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* @return 0 on success, -1 on failure.
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*/
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extern int32_t PIOS_TASK_MONITOR_UnregisterTask(uint16_t task_id);
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/**
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* Checks if a given task is running.
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* A task that has not been registered will be marked as not running.
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*
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* @param task_id The id of the task to check. Must be in the range [0, max_tasks-1].
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* @return true if the task is running.
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*/
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extern bool PIOS_TASK_MONITOR_IsRunning(uint16_t task_id);
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/**
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* Information about a running task that has been registered
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* via a call to PIOS_TASK_MONITOR_Add().
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*/
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struct pios_task_info {
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/** Remaining task stack in bytes. */
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uint32_t stack_remaining;
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/** Flag indicating whether or not the task is running. */
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bool is_running;
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/** Percentage of cpu time used by the task since the last call
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* to PIOS_TASK_MONITOR_ForEachTask(). Low-load tasks may
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* report 0% load even though they have run during the interval. */
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uint8_t running_time_percentage;
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};
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/**
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* Iterator callback, called for each monitored task by PIOS_TASK_MONITOR_TasksIterate().
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*
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* @param task_id The id of the task the task_info refers to.
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* @param task_info Information about the task identified by task_id.
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* @param context Context information optionally provided by the caller to PIOS_TASK_MONITOR_TasksIterate()
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*/
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typedef void (*TaskMonitorTaskInfoCallback)(uint16_t task_id, const struct pios_task_info *task_info, void *context);
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/**
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* Iterator callback, called for each monitored task by PIOS_TASK_MONITOR_TasksIterate().
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*
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* @param task_id The id of the task the task_info refers to.
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* @param task_info Information about the task identified by task_id.
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* @param context Context information optionally provided by the caller to PIOS_TASK_MONITOR_TasksIterate()
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*/
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extern void PIOS_TASK_MONITOR_ForEachTask(TaskMonitorTaskInfoCallback callback, void *context);
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#endif // PIOS_TASK_MONITOR_H
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