From c20b85e6adc2ff212bfdc83810283fae1964d510 Mon Sep 17 00:00:00 2001
From: David Sidrane <david_s5@nscdg.com>
Date: Sat, 18 Mar 2017 04:04:43 -1000
Subject: [PATCH] Revert "UAVCAN performance audit (#6829)" (#6846)
This reverts commit 21e04c9f7afd56adf21d02b76c89ae06fe1fc5a7.
---
Debug/poor-mans-profiler.sh | 18 ++++----------
ROMFS/px4fmu_common/init.d/4012_quad_x_can | 1 -
.../px4fmu_common/mixers/quad_x_can.main.mix | 1 -
src/lib/matrix | 2 +-
src/modules/uavcan/actuators/esc.cpp | 19 ---------------
src/modules/uavcan/actuators/esc.hpp | 1 -
src/modules/uavcan/uavcan_main.cpp | 24 +++++++++++++++++++
src/modules/uavcan/uavcan_main.hpp | 4 ++++
src/systemcmds/tests/test_matrix.cpp | 6 ++---
9 files changed, 36 insertions(+), 40 deletions(-)
delete mode 100644 ROMFS/px4fmu_common/mixers/quad_x_can.main.mix
diff --git a/Debug/poor-mans-profiler.sh b/Debug/poor-mans-profiler.sh
index 4b03e56310..ab06a1b66a 100755
--- a/Debug/poor-mans-profiler.sh
+++ b/Debug/poor-mans-profiler.sh
@@ -1,20 +1,12 @@
#!/bin/bash
#
-# Author: Pavel Kirienko <pavel.kirienko@zubax.com>
-#
# Poor man's sampling profiler for NuttX.
#
# Usage: Install flamegraph.pl in your PATH, configure your .gdbinit, run the script with proper arguments and go
# have a coffee. When you're back, you'll see the flamegraph. Note that frequent calls to GDB significantly
# interfere with normal operation of the target, which means that you can't profile real-time tasks with it.
-# For best results, ensure that the PC is not overloaded, the USB host controller to which the debugger is
-# connected is not congested. You should also allow the current user to set negative nice values.
-#
-# The FlameGraph script can be downloaded from https://github.com/brendangregg/FlameGraph. Thanks Mr. Gregg.
#
-# Requirements: ARM GDB with Python support. You can get one by downloading the sources from
-# https://launchpad.net/gcc-arm-embedded and building them with correct flags.
-# Note that Python support is not required if no per-task sampling is needed.
+# Requirements: ARM GDB with Python support
#
set -e
@@ -41,7 +33,7 @@ which flamegraph.pl > /dev/null || die "Install flamegraph.pl first"
nsamples=0
sleeptime=0.1 # Doctors recommend 7-8 hours a day
taskname=
-elf=
+elf=$root/Build/px4fmu-v2_default.build/firmware.elf
append=0
fgfontsize=10
fgwidth=1900
@@ -77,8 +69,6 @@ do
shift
done
-[[ -z "$elf" ]] && die "Please specify the ELF file location, e.g.: build_px4fmu-v4_default/src/firmware/nuttx/firmware_nuttx"
-
#
# Temporary files
#
@@ -247,8 +237,8 @@ for s, f in sorted(stacks.items(), key=lambda (s, f): s):
print('Total stack frames:', num_stack_frames, file=sys.stderr)
print('Top consumers (distribution of the stack tops):', file=sys.stderr)
-for name,num in sorted(stack_tops.items(), key=lambda (name, num): num, reverse=True)[:300]:
- print('% 7.3f%% ' % (100 * num / num_stack_frames), name, file=sys.stderr)
+for name,num in sorted(stack_tops.items(), key=lambda (name, num): num, reverse=True)[:10]:
+ print('% 5.1f%% ' % (100 * num / num_stack_frames), name, file=sys.stderr)
EOF
cat $stacksfile | python /tmp/pmpn-folder.py > $foldfile
diff --git a/ROMFS/px4fmu_common/init.d/4012_quad_x_can b/ROMFS/px4fmu_common/init.d/4012_quad_x_can
index 01f90b4704..f6246fef8e 100644
--- a/ROMFS/px4fmu_common/init.d/4012_quad_x_can
+++ b/ROMFS/px4fmu_common/init.d/4012_quad_x_can
@@ -25,5 +25,4 @@ then
param set MC_YAWRATE_D 0.0
fi
-set MIXER quad_x_can
set OUTPUT_MODE uavcan_esc
diff --git a/ROMFS/px4fmu_common/mixers/quad_x_can.main.mix b/ROMFS/px4fmu_common/mixers/quad_x_can.main.mix
deleted file mode 100644
index d6a2980148..0000000000
--- a/ROMFS/px4fmu_common/mixers/quad_x_can.main.mix
+++ /dev/null
@@ -1 +0,0 @@
-R: 4x 10000 10000 10000 0
diff --git a/src/lib/matrix b/src/lib/matrix
index 8ef2527676..cf924956d7 160000
--- a/src/lib/matrix
+++ b/src/lib/matrix
@@ -1 +1 @@
-Subproject commit 8ef25276769127595c8cf27c2ee026a2954173cc
+Subproject commit cf924956d7d62ce18bfc4f8441e9177ddb69c0dc
diff --git a/src/modules/uavcan/actuators/esc.cpp b/src/modules/uavcan/actuators/esc.cpp
index 92d12ba32c..d24ad9a1fa 100644
--- a/src/modules/uavcan/actuators/esc.cpp
+++ b/src/modules/uavcan/actuators/esc.cpp
@@ -136,25 +136,6 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
}
}
- /*
- * Remove channels that are always zero.
- * The objective of this optimization is to avoid broadcasting multi-frame transfers when a single frame
- * transfer would be enough. This is a valid optimization as the UAVCAN specification implies that all
- * non-specified ESC setpoints should be considered zero.
- * The positive outcome is a (marginally) lower bus traffic and lower CPU load.
- *
- * From the standpoint of the PX4 architecture, however, this is a hack. It should be investigated why
- * the mixer returns more outputs than are actually used.
- */
- for (int index = int(msg.cmd.size()) - 1; index >= _max_number_of_nonzero_outputs; index--) {
- if (msg.cmd[index] != 0) {
- _max_number_of_nonzero_outputs = index + 1;
- break;
- }
- }
-
- msg.cmd.resize(_max_number_of_nonzero_outputs);
-
/*
* Publish the command message to the bus
* Note that for a quadrotor it takes one CAN frame
diff --git a/src/modules/uavcan/actuators/esc.hpp b/src/modules/uavcan/actuators/esc.hpp
index ced372f7c6..40b151e308 100644
--- a/src/modules/uavcan/actuators/esc.hpp
+++ b/src/modules/uavcan/actuators/esc.hpp
@@ -107,7 +107,6 @@ private:
* ESC states
*/
uint32_t _armed_mask = 0;
- uint8_t _max_number_of_nonzero_outputs = 0;
/*
* Perf counters
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp
index e6bbc0d078..204d8c79a3 100644
--- a/src/modules/uavcan/uavcan_main.cpp
+++ b/src/modules/uavcan/uavcan_main.cpp
@@ -110,6 +110,18 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys
}
/* _server_command_sem use case is a signal */
px4_sem_setprotocol(&_server_command_sem, SEM_PRIO_NONE);
+
+ if (_perfcnt_node_spin_elapsed == nullptr) {
+ errx(1, "uavcan: couldn't allocate _perfcnt_node_spin_elapsed");
+ }
+
+ if (_perfcnt_esc_mixer_output_elapsed == nullptr) {
+ errx(1, "uavcan: couldn't allocate _perfcnt_esc_mixer_output_elapsed");
+ }
+
+ if (_perfcnt_esc_mixer_total_elapsed == nullptr) {
+ errx(1, "uavcan: couldn't allocate _perfcnt_esc_mixer_total_elapsed");
+ }
}
UavcanNode::~UavcanNode()
@@ -152,6 +164,9 @@ UavcanNode::~UavcanNode()
_instance = nullptr;
+ perf_free(_perfcnt_node_spin_elapsed);
+ perf_free(_perfcnt_esc_mixer_output_elapsed);
+ perf_free(_perfcnt_esc_mixer_total_elapsed);
pthread_mutex_destroy(&_node_mutex);
px4_sem_destroy(&_server_command_sem);
@@ -682,6 +697,7 @@ int UavcanNode::init(uavcan::NodeID node_id)
void UavcanNode::node_spin_once()
{
+ perf_begin(_perfcnt_node_spin_elapsed);
const int spin_res = _node.spinOnce();
if (spin_res < 0) {
@@ -692,6 +708,8 @@ void UavcanNode::node_spin_once()
if (_tx_injector != nullptr) {
_tx_injector->injectTxFramesInto(_node);
}
+
+ perf_end(_perfcnt_node_spin_elapsed);
}
/*
@@ -850,8 +868,12 @@ int UavcanNode::run()
// Mutex is unlocked while the thread is blocked on IO multiplexing
(void)pthread_mutex_unlock(&_node_mutex);
+ perf_end(_perfcnt_esc_mixer_total_elapsed); // end goes first, it's not a mistake
+
const int poll_ret = ::poll(_poll_fds, _poll_fds_num, PollTimeoutMs);
+ perf_begin(_perfcnt_esc_mixer_total_elapsed);
+
(void)pthread_mutex_lock(&_node_mutex);
node_spin_once(); // Non-blocking
@@ -943,7 +965,9 @@ int UavcanNode::run()
// Output to the bus
_outputs.timestamp = hrt_absolute_time();
+ perf_begin(_perfcnt_esc_mixer_output_elapsed);
_esc_controller.update_outputs(_outputs.output, _outputs.noutputs);
+ perf_end(_perfcnt_esc_mixer_output_elapsed);
}
diff --git a/src/modules/uavcan/uavcan_main.hpp b/src/modules/uavcan/uavcan_main.hpp
index f84dff1630..b962333a06 100644
--- a/src/modules/uavcan/uavcan_main.hpp
+++ b/src/modules/uavcan/uavcan_main.hpp
@@ -209,6 +209,10 @@ private:
// index into _poll_fds for each _control_subs handle
uint8_t _poll_ids[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN];
+ perf_counter_t _perfcnt_node_spin_elapsed = perf_alloc(PC_ELAPSED, "uavcan_node_spin_elapsed");
+ perf_counter_t _perfcnt_esc_mixer_output_elapsed = perf_alloc(PC_ELAPSED, "uavcan_esc_mixer_output_elapsed");
+ perf_counter_t _perfcnt_esc_mixer_total_elapsed = perf_alloc(PC_ELAPSED, "uavcan_esc_mixer_total_elapsed");
+
void handle_time_sync(const uavcan::TimerEvent &);
typedef uavcan::MethodBinder<UavcanNode *, void (UavcanNode::*)(const uavcan::TimerEvent &)> TimerCallback;
diff --git a/src/systemcmds/tests/test_matrix.cpp b/src/systemcmds/tests/test_matrix.cpp
index 029f36ceb5..d2e574810f 100644
--- a/src/systemcmds/tests/test_matrix.cpp
+++ b/src/systemcmds/tests/test_matrix.cpp
@@ -317,9 +317,9 @@ bool MatrixTest::filterTests()
bool MatrixTest::helperTests()
{
- ut_test(::fabs(wrap_pi(4.0) - (4.0 - 2 * M_PI)) < 1e-5);
- ut_test(::fabs(wrap_pi(-4.0) - (-4.0 + 2 * M_PI)) < 1e-5);
- ut_test(::fabs(wrap_pi(3.0) - (3.0)) < 1e-3);
+ ut_test(fabs(wrap_pi(4.0) - (4.0 - 2 * M_PI)) < 1e-5);
+ ut_test(fabs(wrap_pi(-4.0) - (-4.0 + 2 * M_PI)) < 1e-5);
+ ut_test(fabs(wrap_pi(3.0) - (3.0)) < 1e-3);
wrap_pi(NAN);
Vector3f a(1, 2, 3);
--
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