Add new message to support native profiling of threads and resource u…

…sage

spec/tests/yaml/swiftnav/sbp/profiling/test_MsgProfilingResourceCounter.yaml

@@ -0,0 +1,92 @@
+---
+description: Unit tests for swiftnav.sbp.profiling MSgProfilingResourceCounter
+generated_on: 2024-02-01 00:00:00.00 # manually generated
+package: sbp.profiling
+tests:
+
+
+  - msg:
+      c_decoded_fields:
+        n_buckets:
+          handle_as: vararray-len
+          relates_to: buckets
+          value: 6
+      fields:
+        seq_no: 1
+        seq_len: 3
+        buckets:
+          - name: "Fusion engine\0\0\0\0\0\0\0\0"
+            thread: 1
+            mutex: 2
+            cv: 2
+            io: 0
+            heap_bytes_alloc: 927480
+            heap_bytes_free: 0
+            io_write: 0
+            io_read: 0
+          - name: "NTRIP client\0\0\0\0\0\0\0\0\0"
+            thread: 1
+            mutex: 1
+            cv: 1
+            io: 1
+            heap_bytes_alloc: 84454
+            heap_bytes_free: 0
+            io_write: 879
+            io_read: 19520
+          - name: "SSR2OSR\0\0\0\0\0\0\0\0\0\0\0\0\0\0"
+            thread: 1
+            mutex: 1
+            cv: 1
+            io: 0
+            heap_bytes_alloc: 4328776
+            heap_bytes_free: 0
+            io_write: 0
+            io_read: 0
+          - name: "Periodic\0\0\0\0\0\0\0\0\0\0\0\0\0"
+            thread: 1
+            mutex: 2
+            cv: 1
+            io: 0
+            heap_bytes_alloc: 247112
+            heap_bytes_free: 0
+            io_write: 0
+            io_read: 0
+          - name: "IMU\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0"
+            thread: 1
+            mutex: 1
+            cv: 1
+            io: 1
+            heap_bytes_alloc: 18305
+            heap_bytes_free: 0
+            io_write: 0
+            io_read: 26207
+          - name: "sbp\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0"
+            thread: 5
+            mutex: 2
+            cv: 2
+            io: 2
+            heap_bytes_alloc: 43507
+            heap_bytes_free: 0
+            io_write: 235451
+            io_read: 498
+      module: sbp.profiling
+      name: MsgProfilingResourceCounter
+    msg_type: '0xcf03'
+    raw_json: >
+      {"crc": 39349, "preamble": 85, "sender": 4096, "length": 248, "msg_type": 52995, 
+      "seq_no": 1, "seq_len": 3, "buckets": [
+      {"name": "Fusion engine\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000", "thread": 1, "mutex": 2, "cv": 2, "io": 0, "heap_bytes_alloc": 927480, "heap_bytes_free": 0, "io_write": 0, "io_read": 0}, 
+      {"name": "NTRIP client\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000", "thread": 1, "mutex": 1, "cv": 1, "io": 1, "heap_bytes_alloc": 84454, "heap_bytes_free": 0, "io_write": 879, "io_read": 19520}, 
+      {"name": "SSR2OSR\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000", "thread": 1, "mutex": 1, "cv": 1, "io": 0, "heap_bytes_alloc": 4328776, "heap_bytes_free": 0, "io_write": 0, "io_read": 0}, 
+      {"name": "Periodic\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000", "thread": 1, "mutex": 2, "cv": 1, "io": 0, "heap_bytes_alloc": 247112, "heap_bytes_free": 0, "io_write": 0, "io_read": 0}, 
+      {"name": "IMU\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000", "thread": 1, "mutex": 1, "cv": 1, "io": 1, "heap_bytes_alloc": 18305, "heap_bytes_free": 0, "io_write": 0, "io_read": 26207}, 
+      {"name": "sbp\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000", "thread": 5, "mutex": 2, "cv": 2, "io": 2, "heap_bytes_alloc": 43507, "heap_bytes_free": 0, "io_write": 235451, "io_read": 498}],
+      "payload": "AQNGdXNpb24gZW5naW5lAAAAAAAAAAABAgIA+CYOAAAAAAAAAAAAAAAAAE5UUklQIGNsaWVudAAAAAAAAAAAAAEBAQHmSQEAAAAAAG8DAABATAAAU1NSMk9TUgAAAAAAAAAAAAAAAAAAAQEBAEgNQgAAAAAAAAAAAAAAAABQZXJpb2RpYwAAAAAAAAAAAAAAAAABAgEASMUDAAAAAAAAAAAAAAAAAElNVQAAAAAAAAAAAAAAAAAAAAAAAAEBAQGBRwAAAAAAAAAAAABfZgAAc2JwAAAAAAAAAAAAAAAAAAAAAAAABQICAvOpAAAAAAAAu5cDAPIBAAA="}
+    raw_packet: VQPPABD4AQNGdXNpb24gZW5naW5lAAAAAAAAAAABAgIA+CYOAAAAAAAAAAAAAAAAAE5UUklQIGNsaWVudAAAAAAAAAAAAAEBAQHmSQEAAAAAAG8DAABATAAAU1NSMk9TUgAAAAAAAAAAAAAAAAAAAQEBAEgNQgAAAAAAAAAAAAAAAABQZXJpb2RpYwAAAAAAAAAAAAAAAAABAgEASMUDAAAAAAAAAAAAAAAAAElNVQAAAAAAAAAAAAAAAAAAAAAAAAEBAQGBRwAAAAAAAAAAAABfZgAAc2JwAAAAAAAAAAAAAAAAAAAAAAAABQICAvOpAAAAAAAAu5cDAPIBAAC1mQ==
+    sbp:
+      crc: '0x99b5'
+      length: 248
+      msg_type: '0xcf03'
+      payload: AQNGdXNpb24gZW5naW5lAAAAAAAAAAABAgIA+CYOAAAAAAAAAAAAAAAAAE5UUklQIGNsaWVudAAAAAAAAAAAAAEBAQHmSQEAAAAAAG8DAABATAAAU1NSMk9TUgAAAAAAAAAAAAAAAAAAAQEBAEgNQgAAAAAAAAAAAAAAAABQZXJpb2RpYwAAAAAAAAAAAAAAAAABAgEASMUDAAAAAAAAAAAAAAAAAElNVQAAAAAAAAAAAAAAAAAAAAAAAAEBAQGBRwAAAAAAAAAAAABfZgAAc2JwAAAAAAAAAAAAAAAAAAAAAAAABQICAvOpAAAAAAAAu5cDAPIBAAA=
+      preamble: '0x55'
+      sender: '0x1000'

spec/tests/yaml/swiftnav/sbp/profiling/test_MsgProfilingSystemInfo.yaml

@@ -0,0 +1,29 @@
+---
+description: Unit tests for swiftnav.sbp.profiling MsgProfilingSystemInfo
+generated_on: 2024-02-01 00:00:00.00 # manually generated
+package: sbp.profiling
+tests:
+
+
+  - msg:
+      fields:
+        total_cpu_time: 3418210
+        age: 10292338
+        n_threads: 27
+        heap_usage: 14861128
+      module: sbp.profiling
+      name: MsgProfilingSystemInfo
+
+    msg_type: '0xcf01'
+    raw_json: >
+      {"crc": 16892, "preamble": 85, "sender": 4096, "length": 21, "msg_type": 52993, 
+      "total_cpu_time": 3418210, "age": 10292338, "n_threads": 27, "heap_usage": 14861128,
+      "payload": "Yig0AAAAAAByDJ0AAAAAABtIw+IA"}
+    raw_packet: VQHPABAVYig0AAAAAAByDJ0AAAAAABtIw+IA/EE=
+    sbp:
+      crc: '0x41fc'
+      length: 21
+      msg_type: '0xcf01'
+      payload: Yig0AAAAAAByDJ0AAAAAABtIw+IA
+      preamble: '0x55'
+      sender: '0x1000'

spec/tests/yaml/swiftnav/sbp/profiling/test_MsgProfilingThreadInfo.yaml

@@ -0,0 +1,38 @@
+---
+description: Unit tests for swiftnav.sbp.profiling MsgProfilingThreadInfo
+generated_on: 2024-02-01 00:00:00.00 # manually generated
+package: sbp.profiling
+tests:
+
+
+  - msg:
+      c_decoded_fields:
+        name:
+          handle_as: encoded-string
+          text: Fusion engine
+          fn_prefix: sbp_msg_profiling_thread_info_name
+          encoded_len: 14
+      fields:
+        total_cpu_time: 678775
+        age: 10159470
+        state: 1
+        stack_size: 8388608
+        stack_usage: 275920
+        name: "Fusion engine\u0000"
+      module: sbp.profiling
+      name: MsgProfilingThreadInfo
+
+    msg_type: '0xcf02'
+    raw_json: >
+      {"crc": 43762, "preamble": 85, "sender": 4096, "length": 39, "msg_type": 52994, 
+      "total_cpu_time": 678775, "age": 10159470, "state": 1, "stack_size": 8388608, 
+      "stack_usage": 275920, "name": "Fusion engine\u0000",
+      "payload": "d1sKAAAAAABuBZsAAAAAAAEAAIAA0DUEAEZ1c2lvbiBlbmdpbmUA"}
+    raw_packet: VQLPABAnd1sKAAAAAABuBZsAAAAAAAEAAIAA0DUEAEZ1c2lvbiBlbmdpbmUA8qo=
+    sbp:
+      crc: '0xaaf2'
+      length: 39
+      msg_type: '0xcf02'
+      payload: d1sKAAAAAABuBZsAAAAAAAEAAIAA0DUEAEZ1c2lvbiBlbmdpbmUA
+      preamble: '0x55'
+      sender: '0x1000'

spec/yaml/swiftnav/sbp/profiling.yaml

@@ -52,3 +52,120 @@ definitions:
           type: string
           encoding: null_terminated
           desc: Function name
+
+ - MSG_PROFILING_SYSTEM_INFO:
+    id: 0xCF01
+    short_desc: System Profiling Information
+    desc: >
+      Contains basic information about system resource usage.
+      System is defined in terms of the source of this message and may vary from 
+      sender to sender. Refer to product documentation to understand the exact scope
+      and meaning of this message.
+    fields:
+      - total_cpu_time:
+          type: u64
+          desc: Total cpu time in microseconds consumed by this system
+      - age:
+          type: u64
+          desc: Age of the producing system in microseconds
+      - n_threads:
+          type: u8
+          desc: Number of threads being tracked by this system
+      - heap_usage:
+          type: u32
+          desc: Number of bytes allocated on the heap
+
+ - MSG_PROFILING_THREAD_INFO:
+    id: 0xCF02
+    short_desc: Thread Profiling Information
+    desc: >
+      Contains profiling information related to a single thread being tracked by
+      the producing system. Refer to product documentation to understand the exact scope
+      and meaning of this message.
+    fields:
+      - total_cpu_time:
+          type: u64
+          desc: Total cpu time in microseconds consumed by this thread
+      - age:
+          type: u64
+          desc: Age of the thread in microseconds
+      - state:
+          type: u8
+          desc: Thread state
+          fields:
+            - 0-1:
+                desc: Thread state
+                values:
+                  - 0: External
+                  - 1: Running
+                  - 2: Stopped
+                  - 3: Reserved
+      - stack_size:
+          type: u32
+          desc: Stack size in bytes
+      - stack_usage:
+          type: u32
+          desc: Stack highwater usage in bytes
+      - name:
+          type: string
+          encoding: null_terminated
+          desc: Thread name
+
+ - ResourceBucket:
+    short_desc: A bucket containing various resources
+    desc: >
+      Information about allocation of various resources grouped by buckets. Refer to product
+      documentation to understand the meaning and values in this message.
+    fields:
+      - name:
+          type: string 
+          encoding: null_terminated
+          size: 21
+          desc: Bucket name
+      - thread:
+          type: u8
+          desc: Number of threads
+      - mutex:
+          type: u8
+          desc: Number of mutexes
+      - cv:
+          type: u8
+          desc: Number of condition variables
+      - io:
+          type: u8
+          desc: Number of IO handles
+      - heap_bytes_alloc:
+          type: u32
+          desc: Number of bytes allocated on the heap
+      - heap_bytes_free:
+          type: u32
+          desc: Number of bytes freed on the heap
+      - io_write:
+          type: u32
+          desc: Number of bytes written to IO handles
+      - io_read:
+          type: u32
+          desc: Number of bytes read from IO handles
+
+
+ - MSG_PROFILING_RESOURCE_COUNTER:
+    id: 0xCF03
+    short_desc: Information about resource buckets
+    desc: >
+      Information about resource buckets. Refer to product documentation to understand
+      the meaning and values in this message.
+    fields:
+      - seq_no:
+          type: u8
+          desc: Message number in complete sequence
+      - seq_len:
+          type: u8
+          desc: Length of message sequence
+      - buckets:
+          type: array
+          fill: ResourceBucket
+          desc: List of resource buckets
+
+
+
+