diff --git a/src/lib/perf/perf_counter.cpp b/src/lib/perf/perf_counter.cpp index 8cd3ddddeb90..3dd6593b1d3d 100644 --- a/src/lib/perf/perf_counter.cpp +++ b/src/lib/perf/perf_counter.cpp @@ -37,24 +37,44 @@ * @brief Performance measuring tools. */ +#ifndef MODULE_NAME +#define MODULE_NAME "perf" +#endif + #include #include #include #include #include #include -#include #include +#include +#include +#include +#include + +#include #include "perf_counter.h" +#define PERF_SHMNAME_PREFIX "_perf_" +#define PERF_SHMNAME_STR PERF_SHMNAME_PREFIX "%s" +#define PERF_SHMNAME_MAX 64 + +#ifndef CONFIG_FS_SHMFS_VFS_PATH +#define CONFIG_FS_SHMFS_VFS_PATH "/dev/shm" +#endif + /** * Header common to all counters. */ struct perf_ctr_header { - sq_entry_t link; /**< list linkage */ enum perf_counter_type type; /**< counter type */ +#ifdef CONFIG_BUILD_FLAT const char *name; /**< counter name */ +#else + char name[PERF_SHMNAME_MAX]; /**< counter name */ +#endif }; /** @@ -91,51 +111,124 @@ struct perf_ctr_interval : public perf_ctr_header { float M2{0.0f}; }; -/** - * List of all known counters. - */ -static sq_queue_t perf_counters = { nullptr, nullptr }; - -/** - * mutex protecting access to the perf_counters linked list (which is read from & written to by different threads) - */ -pthread_mutex_t perf_counters_mutex = PTHREAD_MUTEX_INITIALIZER; -// FIXME: the mutex does **not** protect against access to/from the perf -// counter's data. It can still happen that a counter is updated while it is -// printed. This can lead to inconsistent output, or completely bogus values -// (especially the 64bit values which are in general not atomically updated). -// The same holds for shared perf counters (perf_alloc_once), that can be updated -// concurrently (this affects the 'ctrl_latency' counter). - - -perf_counter_t -perf_alloc(enum perf_counter_type type, const char *name) +static size_t perf_size(enum perf_counter_type type) { - perf_counter_t ctr = nullptr; - switch (type) { case PC_COUNT: - ctr = new perf_ctr_count(); - break; + return sizeof(perf_ctr_count); case PC_ELAPSED: - ctr = new perf_ctr_elapsed(); - break; + return sizeof(perf_ctr_elapsed); case PC_INTERVAL: - ctr = new perf_ctr_interval(); - break; + return sizeof(perf_ctr_interval); default: break; } - if (ctr != nullptr) { + return 0; +} + +static size_t perf_shmsize(int fd) +{ + struct stat sb; + + if (fstat(fd, &sb) < 0) { + PX4_ERR("Cannot stat %d", fd); + } + + return sb.st_size; +} + +static int perf_shmname(char *shmname, const char *name, size_t size) +{ + int ret = snprintf(shmname, size, PERF_SHMNAME_STR, name); + + if ((size_t)ret >= size) { + return -ENAMETOOLONG; + } + + return OK; +} + +static void perf_foreach(perf_callback cb, void *arg = NULL) +{ + DIR *dir = opendir(CONFIG_FS_SHMFS_VFS_PATH); + struct dirent *perf; + + while ((perf = readdir(dir)) != nullptr) { + if (!strncmp(perf->d_name, PERF_SHMNAME_PREFIX, sizeof(PERF_SHMNAME_PREFIX) - 1)) { + /* found the counter, map it for us */ + int fd = shm_open(perf->d_name, O_RDWR, 0666); + + if (fd >= 0) { + size_t size = perf_shmsize(fd); + void *p = px4_mmap(0, size, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0); + + /* the file can be closed now */ + close(fd); + + if (p != MAP_FAILED) { + cb((perf_counter_t)p, arg); + px4_munmap(p, size); + } + } + } + } +} + +static void perf_print_cb(perf_counter_t handle, void *arg) +{ + perf_print_counter(handle); +} + +static void perf_reset_cb(perf_counter_t handle, void *arg) +{ + perf_reset(handle); +} + +perf_counter_t +perf_alloc(enum perf_counter_type type, const char *name) +{ + perf_counter_t ctr; + char shmname[PERF_SHMNAME_MAX]; + int ret; + int fd; + + /* generate name for shmfs file */ + ret = perf_shmname(shmname, name, sizeof(shmname)); + + if (ret < 0) { + PX4_ERR("failed to allocate perf counter %s", name); + return nullptr; + } + + /* try to allocate new shm object and map it */ + ctr = nullptr; + fd = shm_open(shmname, O_CREAT | O_RDWR | O_EXCL, 0666); + + if (fd >= 0) { + ret = ftruncate(fd, perf_size(type)); + + if (ret == 0) { + void *p = px4_mmap(0, perf_size(type), PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0); + + if (p != MAP_FAILED) { + ctr = (perf_counter_t)p; + } + } + } + + close(fd); + + if (ctr) { ctr->type = type; +#ifdef CONFIG_BUILD_FLAT ctr->name = name; - pthread_mutex_lock(&perf_counters_mutex); - sq_addfirst(&ctr->link, &perf_counters); - pthread_mutex_unlock(&perf_counters_mutex); +#else + strncpy(ctr->name, name, PERF_SHMNAME_MAX); +#endif } return ctr; @@ -144,27 +237,38 @@ perf_alloc(enum perf_counter_type type, const char *name) perf_counter_t perf_alloc_once(enum perf_counter_type type, const char *name) { - pthread_mutex_lock(&perf_counters_mutex); - perf_counter_t handle = (perf_counter_t)sq_peek(&perf_counters); - - while (handle != nullptr) { - if (!strcmp(handle->name, name)) { - if (type == handle->type) { - /* they are the same counter */ - pthread_mutex_unlock(&perf_counters_mutex); - return handle; - - } else { - /* same name but different type, assuming this is an error and not intended */ - pthread_mutex_unlock(&perf_counters_mutex); - return nullptr; - } - } + DIR *dir = opendir(CONFIG_FS_SHMFS_VFS_PATH); + struct dirent *perf; + char shmname[PERF_SHMNAME_MAX]; + int ret; + + /* generate name for shmfs file */ + ret = perf_shmname(shmname, name, sizeof(shmname)); - handle = (perf_counter_t)sq_next(&handle->link); + if (ret < 0) { + PX4_ERR("failed to allocate perf counter %s", name); + return nullptr; } - pthread_mutex_unlock(&perf_counters_mutex); + while ((perf = readdir(dir)) != nullptr) { + if (!strncmp(perf->d_name, shmname, sizeof(shmname))) { + /* found the counter, map it for us */ + int fd = shm_open(perf->d_name, O_RDWR, 0666); + + if (fd >= 0) { + void *p = px4_mmap(0, perf_size(type), PROT_READ, MAP_SHARED, fd, 0); + + /* the file can be closed now */ + close(fd); + + if (p == MAP_FAILED) { + return nullptr; + } + + return (perf_counter_t)p; + } + } + } /* if the execution reaches here, no existing counter of that name was found */ return perf_alloc(type, name); @@ -173,29 +277,15 @@ perf_alloc_once(enum perf_counter_type type, const char *name) void perf_free(perf_counter_t handle) { - if (handle == nullptr) { - return; - } - - pthread_mutex_lock(&perf_counters_mutex); - sq_rem(&handle->link, &perf_counters); - pthread_mutex_unlock(&perf_counters_mutex); - - switch (handle->type) { - case PC_COUNT: - delete (struct perf_ctr_count *)handle; - break; + if (handle) { + char shmname[PERF_SHMNAME_MAX]; - case PC_ELAPSED: - delete (struct perf_ctr_elapsed *)handle; - break; - - case PC_INTERVAL: - delete (struct perf_ctr_interval *)handle; - break; + /* should not fail, if object creation succeeded ? */ + if (perf_shmname(shmname, handle->name, sizeof(shmname) >= 0)) { + shm_unlink(shmname); + } - default: - break; + px4_munmap(handle, perf_size(handle->type)); } } @@ -586,29 +676,13 @@ perf_mean(perf_counter_t handle) void perf_iterate_all(perf_callback cb, void *user) { - pthread_mutex_lock(&perf_counters_mutex); - perf_counter_t handle = (perf_counter_t)sq_peek(&perf_counters); - - while (handle != nullptr) { - cb(handle, user); - handle = (perf_counter_t)sq_next(&handle->link); - } - - pthread_mutex_unlock(&perf_counters_mutex); + perf_foreach(cb, user); } void perf_print_all(void) { - pthread_mutex_lock(&perf_counters_mutex); - perf_counter_t handle = (perf_counter_t)sq_peek(&perf_counters); - - while (handle != nullptr) { - perf_print_counter(handle); - handle = (perf_counter_t)sq_next(&handle->link); - } - - pthread_mutex_unlock(&perf_counters_mutex); + perf_foreach(perf_print_cb); } void @@ -630,15 +704,6 @@ perf_print_latency(void) void perf_reset_all(void) { - pthread_mutex_lock(&perf_counters_mutex); - perf_counter_t handle = (perf_counter_t)sq_peek(&perf_counters); - - while (handle != nullptr) { - perf_reset(handle); - handle = (perf_counter_t)sq_next(&handle->link); - } - - pthread_mutex_unlock(&perf_counters_mutex); - + perf_foreach(perf_reset_cb); reset_latency_counters(); }