px4_autopilot/apps/systemlib/perf_counter.c

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 *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
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 * modification, are permitted provided that the following conditions
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/**
 * @file perf_counter.c
 *
 * @brief Performance measuring tools.
 */

#include <stdlib.h>
#include <stdio.h>
#include <sys/queue.h>
#include <drivers/drv_hrt.h>

#include "perf_counter.h"

/**
 * Header common to all counters.
 */
struct perf_ctr_header {
	sq_entry_t		link;	/**< list linkage */
	enum perf_counter_type	type;	/**< counter type */
	const char		*name;	/**< counter name */
};

/**
 * PC_EVENT counter.
 */
struct perf_ctr_count {
	struct perf_ctr_header	hdr;
	uint64_t		event_count;
};

/**
 * PC_ELAPSED counter.
 */
struct perf_ctr_elapsed {
	struct perf_ctr_header	hdr;
	uint64_t		event_count;
	uint64_t		time_start;
	uint64_t		time_total;
	uint64_t		time_least;
	uint64_t		time_most;
};

/**
 * List of all known counters.
 */
static sq_queue_t	perf_counters;


perf_counter_t
perf_alloc(enum perf_counter_type type, const char *name)
{
	perf_counter_t ctr = NULL;

	switch (type) {
	case PC_COUNT:
		ctr = (perf_counter_t)calloc(sizeof(struct perf_ctr_count), 1);
		break;

	case PC_ELAPSED:
		ctr = (perf_counter_t)calloc(sizeof(struct perf_ctr_elapsed), 1);
		break;

	default:
		break;
	}

	if (ctr != NULL) {
		ctr->type = type;
		ctr->name = name;
		sq_addfirst(&ctr->link, &perf_counters);
	}

	return ctr;
}

void
perf_free(perf_counter_t handle)
{
	if (handle == NULL)
		return;

	sq_rem(&handle->link, &perf_counters);
	free(handle);
}

void
perf_count(perf_counter_t handle)
{
	if (handle == NULL)
		return;

	switch (handle->type) {
	case PC_COUNT:
		((struct perf_ctr_count *)handle)->event_count++;
		break;

	default:
		break;
	}
}

void
perf_begin(perf_counter_t handle)
{
	if (handle == NULL)
		return;

	switch (handle->type) {
	case PC_ELAPSED:
		((struct perf_ctr_elapsed *)handle)->time_start = hrt_absolute_time();
		break;

	default:
		break;
	}
}

void
perf_end(perf_counter_t handle)
{
	if (handle == NULL)
		return;

	switch (handle->type) {
	case PC_ELAPSED: {
			struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
			hrt_abstime elapsed = hrt_absolute_time() - pce->time_start;

			pce->event_count++;
			pce->time_total += elapsed;

			if ((pce->time_least > elapsed) || (pce->time_least == 0))
				pce->time_least = elapsed;

			if (pce->time_most < elapsed)
				pce->time_most = elapsed;
		}

	default:
		break;
	}
}

void
perf_print_counter(perf_counter_t handle)
{
	if (handle == NULL)
		return;

	switch (handle->type) {
	case PC_COUNT:
		printf("%s: %llu events\n",
		       handle->name,
		       ((struct perf_ctr_count *)handle)->event_count);
		break;

	case PC_ELAPSED:
		printf("%s: %llu events, %lluus elapsed, min %lluus max %lluus\n",
		       handle->name,
		       ((struct perf_ctr_elapsed *)handle)->event_count,
		       ((struct perf_ctr_elapsed *)handle)->time_total,
		       ((struct perf_ctr_elapsed *)handle)->time_least,
		       ((struct perf_ctr_elapsed *)handle)->time_most);

	default:
		break;
	}
}

void
perf_print_all(void)
{
	perf_counter_t handle = (perf_counter_t)sq_peek(&perf_counters);

	while (handle != NULL) {
		perf_print_counter(handle);
		handle = (perf_counter_t)sq_next(&handle->link);
	}
}