diff options
| author | lonkaars <loek@pipeframe.xyz> | 2022-05-26 15:39:31 +0200 |
|---|---|---|
| committer | lonkaars <loek@pipeframe.xyz> | 2022-05-26 15:39:31 +0200 |
| commit | 60f07661602a5dfe8e39b8038964b38bddcb33a5 (patch) | |
| tree | 0b257acda0797a13cd09e7df2d16a6da0a6aef11 /robot/hypervisor.c | |
| parent | 333eea840a17d0f8ecf0110d952df2857fea4da0 (diff) | |
| parent | f073c9d3848dab915bed4844e9d13684aa5e23eb (diff) | |
merge dev into master
Diffstat (limited to 'robot/hypervisor.c')
| -rw-r--r-- | robot/hypervisor.c | 36 |
1 files changed, 29 insertions, 7 deletions
diff --git a/robot/hypervisor.c b/robot/hypervisor.c index 6b32776..0baa406 100644 --- a/robot/hypervisor.c +++ b/robot/hypervisor.c @@ -1,12 +1,25 @@ #include "hypervisor.h" -#include "consts.h" +#include "../shared/util.h" #include "errcatch.h" #include "io.h" #include "modes.h" #include "orangutan_shim.h" #include "sercomm.h" +uint64_t g_w2_hypervisor_cycles = 0; +uint64_t g_w2_hypervisor_uptime_ms = 0; +unsigned long g_w2_hypervisor_ema_sercomm_ms = 0; +unsigned long g_w2_hypervisor_ema_errcatch_ms = 0; +unsigned long g_w2_hypervisor_ema_io_ms = 0; +unsigned long g_w2_hypervisor_ema_mode_ms = 0; + void w2_hypervisor_main() { +#ifdef W2_SIM + w2_sim_cycle_begin(); + if (DBG_ENABLE_CYCLEINFO) siminfo("cycle start\n"); +#endif + + g_w2_hypervisor_uptime_ms += get_ms(); time_reset(); w2_sercomm_main(); @@ -18,14 +31,23 @@ void w2_hypervisor_main() { w2_modes_main(); unsigned long mode_time = get_ms() - io_time; + // calculate exponential moving averages + g_w2_hypervisor_ema_sercomm_ms = + w2_util_exp_mov_avg(g_w2_hypervisor_ema_sercomm_ms, sercomm_time); + g_w2_hypervisor_ema_errcatch_ms = + w2_util_exp_mov_avg(g_w2_hypervisor_ema_errcatch_ms, errcatch_time); + g_w2_hypervisor_ema_io_ms = w2_util_exp_mov_avg(g_w2_hypervisor_ema_io_ms, io_time); + g_w2_hypervisor_ema_mode_ms = w2_util_exp_mov_avg(g_w2_hypervisor_ema_mode_ms, mode_time); + + if (mode_time > W2_MAX_MODULE_CYCLE_MS) w2_errcatch_throw(W2_E_WARN_CYCLE_EXPIRED); + #ifdef W2_SIM - siminfo("sercomm: %lums\n", sercomm_time); - siminfo("errcatch: %lums\n", errcatch_time); - siminfo("io: %lums\n", io_time); - siminfo("mode: %lums\n", mode_time); + if (DBG_ENABLE_CYCLEINFO) siminfo("cycle end\n"); + if (!g_w2_sim_headless) usleep(100e3); - usleep(100e3); + if (g_w2_sim_headless && DBG_MAX_CYCLES > -1 && g_w2_hypervisor_cycles > DBG_MAX_CYCLES) + exit(0); #endif - if (mode_time > W2_MAX_MODULE_CYCLE_MS) w2_errcatch_throw(W2_ERR_CYCLE_EXPIRED); + g_w2_hypervisor_cycles++; } |