Runtime configuration of diagnostics related to the RX-DO-TX phases (#96

)

CMakeLists.txt

@@ -6,7 +6,7 @@
 cmake_minimum_required(VERSION 3.12)
 
 project(icub_firmware_shared
-        VERSION 1.39.0)
+        VERSION 1.39.1)
 
 find_package(YCM 0.11.0 REQUIRED)
 

eth/embobj/plus/comm-v2/icub/EoError.c

@@ -132,15 +132,15 @@ const eoerror_valuestring_t eoerror_valuestrings_SYS[] =
     {eoerror_value_SYS_canservices_parsingfailure, "SYS: EOtheCANservice could not parse a rx can frame.", " In par16 there is frame.id and frame.size (in most significant nibble). In par64 there is the frame.data"},
     {eoerror_value_SYS_canservices_txfifoputisok, "SYS: EOtheCANservice have just put a can frame in tx fifo.", "In par16 there is frame.id and frame.size (in most significant nibble). In par64 there is the frame.data."},
 	{eoerror_value_SYS_canservices_genericerror, "SYS: EOtheCANservice has detected a generic error.", "In par16 there is the code"},
-    {eoerror_value_SYS_ctrloop_rxphaseaverage, 	 "SYS: RX phase of the control loop average execution time in usec, monitored for the last 10secs, is ", "Value is stored in par16 "},
-	{eoerror_value_SYS_ctrloop_dophaseaverage, 	 "SYS: DO phase of the control loop average execution time in usec, monitored for the last 10secs, is", "Value is  stored in par16 "},
-	{eoerror_value_SYS_ctrloop_txphaseaverage, 	 "SYS: TX phase of the control loop average execution time in usec, monitored for the last 10secs, is ", "Value is  stored in par16 "},
-    {eoerror_value_SYS_ctrloop_rxphasemax, 	     "SYS: RX phase of the control loop max execution time in usec, monitored for the last 10secs, is ", "Value is stored in par16 "},
-	{eoerror_value_SYS_ctrloop_dophasemax, 	     "SYS: DO phase of the control loop max execution time in usec, monitored for the last 10secs, is ", "Value is stored in par16 "},
-	{eoerror_value_SYS_ctrloop_txphasemax, 	     "SYS: TX phase of the control loop max execution time in usec, monitored for the last 10secs, is ", "Value is stored in par16 "},
-    {eoerror_value_SYS_ctrloop_rxphasemin, 	     "SYS: RX phase of the control loop min execution time in usec, monitored for the last 10secs, is ", "Value is stored in par16 "},
-	{eoerror_value_SYS_ctrloop_dophasemin, 	     "SYS: DO phase of the control loop min execution time in usec, monitored for the last 10secs, is ", "Value is stored in par16 "},
-	{eoerror_value_SYS_ctrloop_txphasemin, 	     "SYS: TX phase of the control loop min execution time in usec, monitored for the last 10secs, is ", "Value is stored in par16 "},
+    {eoerror_value_SYS_ctrloop_rxphaseaverage, 	 "SYS: RX phase average execution time", "us time in par16, ms period in par64 & 0xffff"},
+	{eoerror_value_SYS_ctrloop_dophaseaverage, 	 "SYS: DO phase average execution time", "us time in par16, ms period in par64 & 0xffff"},
+	{eoerror_value_SYS_ctrloop_txphaseaverage, 	 "SYS: TX phase average execution timec", "us time in par16, ms period in par64 & 0xffff"},
+    {eoerror_value_SYS_ctrloop_rxphasemax, 	     "SYS: RX phase max execution time", "us time in par16, ms period in par64 & 0xffff"},
+	{eoerror_value_SYS_ctrloop_dophasemax, 	     "SYS: DO phase max execution time", "us time in par16, ms period in par64 & 0xffff"},
+	{eoerror_value_SYS_ctrloop_txphasemax, 	     "SYS: TX phase max execution time", "us time in par16, ms period in par64 & 0xffff"},
+    {eoerror_value_SYS_ctrloop_rxphasemin, 	     "SYS: RX phase min execution time", "us time in par16, ms period in par64 & 0xffff"},
+	{eoerror_value_SYS_ctrloop_dophasemin, 	     "SYS: DO phase min execution time", "us time in par16, ms period in par64 & 0xffff"},
+	{eoerror_value_SYS_ctrloop_txphasemin, 	     "SYS: TX phase min execution time", "us time in par16, ms period in par64 & 0xffff"},
     {eoerror_value_SYS_proxy_forward_ok,  "SYS: the proxy has forwareded a request.", ""},
     {eoerror_value_SYS_proxy_forward_fails,      "SYS: the proxy fails to forward a request.", "in par64 there are the [sign|id32], in par16 [capacity|size] of proxy list "},
     {eoerror_value_SYS_proxy_forward_callback_fails,  "SYS: the update callback called by a proxy forward fails to operate properly."},
@@ -165,7 +165,8 @@ const eoerror_valuestring_t eoerror_valuestrings_SYS[] =
     {eoerror_value_SYS_canservices_monitor_regularcontact, "SYS: a service has verified that the TX of its CAN boards is regular.", "In sourceaddress the eOmn_serv_category_t, in par64 LS 32 bits the bit mask of boards (CAN1 in MS 16 bits and CAN2 in LS 16 bits)"},
     {eoerror_value_SYS_canservices_monitor_lostcontact,  "SYS: a service has detected that some CAN boards have stopped transmission.", "In sourceaddress the eOmn_serv_category_t, in par64 LS 32 bits the bit mask of lost board (CAN1 in MS 16 bits and CAN2 in LS 16 bits), in in par64 MS 32 bits the time in ms since last contact"},
     {eoerror_value_SYS_canservices_monitor_stillnocontact,  "SYS: a service has detected that some CAN boards are still not transmitting.", "In sourceaddress the eOmn_serv_category_t, in par64 LS 32 bits the bit mask of lost board (CAN1 in MS 16 bits and CAN2 in LS 16 bits), in in par64 MS 32 bits the total disappearence time in ms"},
-    {eoerror_value_SYS_canservices_monitor_retrievedcontact, "SYS: a service has recovered all CAN boards that were not transmitting.", "In sourceaddress the eOmn_serv_category_t"}
+    {eoerror_value_SYS_canservices_monitor_retrievedcontact, "SYS: a service has recovered all CAN boards that were not transmitting.", "In sourceaddress the eOmn_serv_category_t"},
+    {eoerror_value_SYS_exec_time_stats, "SYS: execution time statistics (min, average, max) us in a period", "(us min, us average, us max, ms period) is in par64, thread id in par16"},
 };  EO_VERIFYsizeof(eoerror_valuestrings_SYS, eoerror_value_SYS_numberof*sizeof(const eoerror_valuestring_t)) 
 
 

eth/embobj/plus/comm-v2/icub/EoError.h

@@ -177,11 +177,12 @@ typedef enum
     eoerror_value_SYS_canservices_monitor_regularcontact    = 60,
     eoerror_value_SYS_canservices_monitor_lostcontact       = 61,
     eoerror_value_SYS_canservices_monitor_stillnocontact    = 62,
-    eoerror_value_SYS_canservices_monitor_retrievedcontact  = 63
+    eoerror_value_SYS_canservices_monitor_retrievedcontact  = 63,
+    eoerror_value_SYS_exec_time_stats                       = 64
 
 } eOerror_value_SYS_t;
 
-enum { eoerror_value_SYS_numberof = 64 };
+enum { eoerror_value_SYS_numberof = 65 };
 
 
 /** @typedef    typedef enum eOerror_value_HW_t

eth/embobj/plus/comm-v2/icub/EoManagement.h

@@ -272,6 +272,18 @@ typedef struct                      // size is 8+32+80+0 = 120 bytes
 
 // -- the definition of an appl entity
 
+typedef enum
+{
+    eomn_appl_log_asynchro_exectime_overflow    = 0,    // if used it sends logging as an overflow of execution time happens in the runner
+    eomn_appl_log_periodic_exectime_statistics  = 1     // if used it sends periodic logging on stats of the runner    
+} eOmn_appl_log_flags_t;
+
+typedef struct 
+{
+    uint16_t                        flags;  // uses OR of eOmn_appl_log_flags_t
+    uint16_t                        period10ms; // in 10*ms so that we manage ut to 10 minutes. used by periodic logs    
+} eOmn_appl_config_logging_t;
+
 /** @typedef    typedef struct eOmn_appl_config_t;
     @brief      used to configure the application
  **/
@@ -282,7 +294,8 @@ typedef struct                      // size is 4+3+3 = 8 bytes
     uint16_t                        maxtimeDO;      // in usec         
     uint16_t                        maxtimeTX;      // in usec  
     uint8_t                         txratedivider;  // if equal to 1 (or 0) the cycle sends up packets at every cycles, if 2 it sends up packets every two cycles
-    uint8_t                         filler05[5];     
+    uint8_t                         filler01[1];
+    eOmn_appl_config_logging_t      logging;  
 } eOmn_appl_config_t;               EO_VERIFYsizeof(eOmn_appl_config_t, 16)
 
 

eth/embobj/plus/comm-v2/protocol/api/EoProtocolMN.h

@@ -58,7 +58,7 @@ extern "C" {
 // - declaration of public user-defined types ------------------------------------------------------------------------- 
 
 
-enum { eoprot_version_mn_major = 2, eoprot_version_mn_minor = 23 };
+enum { eoprot_version_mn_major = 2, eoprot_version_mn_minor = 24 };
 
 
 enum { eoprot_entities_mn_numberof = eomn_entities_numberof };