cpuResourceCheck.cpp
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/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include "../PreFlightCheck.hpp"
#include <drivers/drv_hrt.h>
#include <systemlib/mavlink_log.h>
#include <lib/parameters/param.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/cpuload.h>
using namespace time_literals;
bool PreFlightCheck::cpuResourceCheck(orb_advert_t *mavlink_log_pub, const bool report_fail)
{
bool success = true;
uORB::SubscriptionData<cpuload_s> cpuload_sub{ORB_ID(cpuload)};
cpuload_sub.update();
float cpuload_percent_max;
param_get(param_find("COM_CPU_MAX"), &cpuload_percent_max);
if (cpuload_percent_max > 0.f) {
if (hrt_elapsed_time(&cpuload_sub.get().timestamp) > 2_s) {
success = false;
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "Fail: No CPU load information");
}
}
const float cpuload_percent = cpuload_sub.get().load * 100.f;
if (cpuload_percent > cpuload_percent_max) {
success = false;
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "Fail: CPU load too high: %3.1f%%", (double)cpuload_percent);
}
}
}
return success;
}