Changeset 864

Timestamp:

12/13/09 16:59:59 (3 years ago)

Author:

atorf

Message:

NXCProfiler:

• More debug infos in Analyzer
• Tried to profile MotorControl, first results seem uncool (problem with analyzing to small chunks of code, problem if firmware "ticks" during a fast executing function (and profiler "thinks" it took a while))

Location:

branches/atorf/personal playground/NXCProfiler

Files:

• Analyzer (modified) (1 prop)
• Analyzer/AnalyzeNXCProfile.py (modified) (3 diffs)
• profiled MotorControl (modified) (1 prop)
• profiled MotorControl/ControllerCore.nxc (modified) (20 diffs)
• profiled MotorControl/MotorControl21.nxc (modified) (16 diffs)
• profiled MotorControl/MotorControl21.prf (added)
• profiled MotorControl/Profiler01.nxc (copied) (copied from branches/atorf/personal playground/NXCProfiler/Profiler01.nxc)
• profiled MotorControl/TestProfiledMotorControl.m (added)
• profiled MotorControl/doit1.bat (added)
• profiled MotorControl/doit2.bat (added)

branches/atorf/personal playground/NXCProfiler/Analyzer/AnalyzeNXCProfile.py

@@ -74 +74 @@
         f = file(filename, "rb")
     except (IOError, OSError):
-        print "Could not find or open input file"
+        print "Could not find or open input file %s" % filename
         sys.exit(1)
     #end try
@@ -112 +112 @@
             out.ElapsedTicks.append(tmpTicks)
             out.AllSectionsTicks += tmpTicks
+            verbosePrint("     Executed=%d, Elapsed=%d, SameMs=%d" % (out.ExecutionCount[-1], out.ElapsedTicks[-1], out.ExecutionsSameMs[-1]))
         #end for
     except:
@@ -131 +132 @@
         lines = f.readlines()
     except (IOError, OSError):
-        print "Could not find, open or read input file"
+        print "Could not find, open or read input file %s" % filename
         f.close()
         sys.exit(1)

branches/atorf/personal playground/NXCProfiler/profiled MotorControl/ControllerCore.nxc

@@ -77 +77 @@
 */
 
+    PROFILER_BEGINSECTION(15);
 
     //much simpler approach now...
@@ -104 +105 @@
                 Wait(300);
             #endif
+            PROFILER_ENDSECTION(15);
             return true;
         }//end if
@@ -110 +112 @@
 
         if (CurrentTick() >= timeoutTick) {
+            PROFILER_ENDSECTION(15);
             break;
         }//end if
     }//end while
 
+    PROFILER_ENDSECTION(15);
     return false;
 
@@ -210 +214 @@
 // - Absolute acceleration power during rampup (in discrete steps like 10, 20, etc)
 
-
+    PROFILER_BEGINSECTION(16);
 // --- Some DECLARATIONS -- not all of them, this is timecritical
     long i;
@@ -266 +270 @@
     #endif
 
-
+    PROFILER_ENDSECTION(16);
+    PROFILER_BEGINSECTION(17);
+    
 // --- Declare and Initialize various variables
 //     * STAGE is RAMPUP
@@ -360 +366 @@
 #endif
 
+    PROFILER_ENDSECTION(17);
+
 // --- MAIN LOOP ---------------------
     while(true) {
     
+        PROFILER_BEGINSECTION(18);
 //    * record time
         loopStartTick = CurrentTick();
@@ -412 +421 @@
         if (SpeedLogIndex > SPEEDHISTORY-1) SpeedLogIndex = 0;
 
+        PROFILER_ENDSECTION(18);
+        
 
 //    * if RAMPUP STAGE:
@@ -425 +436 @@
             if (smoothstart) {
             
+                PROFILER_BEGINSECTION(19);
                 rampupLoopCount++;
                 // when rampup is done
@@ -466 +478 @@
                 }//end if
                 
+                PROFILER_ENDSECTION(19);
+                
             } else { // no rampup
             
+                PROFILER_BEGINSECTION(20);
                 // full power right away
                 if (speedreg) {
@@ -481 +496 @@
 
                 curStage = STAGE_DRIVING;
+
+                PROFILER_ENDSECTION(20);
                 
             }//end if
@@ -496 +513 @@
         //optimized, OLD: if ((curStage == STAGE_DRIVING) || (curStage == STAGE_RAMPUP)) {
         if (curStage <= STAGE_DRIVING) {
+        
+            PROFILER_BEGINSECTION(21);
+
             #ifdef ENABLEDEBUGGING_LCD_SLOW_ANTIBUG
                 if (curStage == STAGE_DRIVING) {
@@ -554 +574 @@
             }//end if
             
-
+            PROFILER_ENDSECTION(21);
 
         }//end if
@@ -567 +587 @@
 //        . clip power and set
         if (curStage == STAGE_BRAKING) {
+        
+            PROFILER_BEGINSECTION(22);
+        
             #ifdef ENABLEDEBUGGING_LCD_SLOW_ANTIBUG
                 TextOut(0, DebugLinePos[port], "BRAKING:top        ");
@@ -580 +603 @@
                 }//end if
             #endif// - - - - - - - - - -
-
 
             // TODO maybe replace this variable (dont use it) and do it inline?
@@ -671 +693 @@
             #endif// - - - - - - - - - -
             
+            PROFILER_ENDSECTION(22);
+            
         }//end if
 
@@ -682 +706 @@
         #endif
 
+        PROFILER_BEGINSECTION(23);
         waitEndTick = loopStartTick + LOOP_DURATION; //precalc loop-end
         while (CurrentTick() < waitEndTick) {
@@ -733 +758 @@
 
         }//end while (times out when static worst case looptime is over (~10 to 20ms)
+        PROFILER_ENDSECTION(23);
 
         #ifdef ENABLEDEBUGGING_LCD_SLOW_ANTIBUG
@@ -756 +782 @@
             #endif
 
-
+            PROFILER_BEGINSECTION(24);
             // fast inner loop now!
             // don't forget TIMEOUT or something, avoid possible lock up,
@@ -820 +846 @@
             #endif
 
+            PROFILER_ENDSECTION(24);
+
             //now there's a little time for debug...
             #ifdef ENABLEDEBUGGING_ACOUSTIC
@@ -872 +900 @@
     #endif
 
+    PROFILER_BEGINSECTION(25);
     bool stoppedByDirectCmd = false;
     stoppedByDirectCmd = _ADD_MOTORNAME(WaitUntilMotorStopped)(port);
+    PROFILER_ENDSECTION(25);
 
 

branches/atorf/personal playground/NXCProfiler/profiled MotorControl/MotorControl21.nxc

@@ -31 +31 @@
 
 
+
+// SET UP THE PROFILER
+// comment this out to silently disable profiling without any side effects!
+#define PROFILER_ENABLE
+// how many times did we use PROFILER_BEGINSECTION (and ENDSECTION)
+#define PROFILER_MAXSECTIONS 27
+// name of the binary results file we later analyze
+#define PROFILER_RESULTSFILE "MotorControl21.prf"
+// this does all the magic :-)
+#include "Profiler01.nxc"
+
+
+
 // *************** GLOBAL DEFINES
 // important to be before includes,
@@ -478 +491 @@
 task main(){
 
+    PROFILER_START();
+    PROFILER_BEGINSECTION(0);
+    
     // parameter initialization
     string in = "";
@@ -508 +524 @@
     taskCrunning = false;
 
-
+    PROFILER_ENDSECTION(0);
+    PROFILER_BEGINSECTION(1);
     DisplayMainScreen();
     //Wait(9000);
-
+    PROFILER_ENDSECTION(1);
+    
+    PROFILER_BEGINSECTION(2);
     // don't forget this
     InitSpeedFromPosLUT();
-
-
+    PROFILER_ENDSECTION(2);
+    
+    
+    PROFILER_BEGINSECTION(3);
     // purge mailboxes to make sure, in case something is left over,
     // I don't know...
@@ -540 +561 @@
     #endif
 
+    PROFILER_ENDSECTION(3);
+
     while(true){
 
+        PROFILER_BEGINSECTION(4);
         ReceiveRemoteString(INBOX, true, in);
+        PROFILER_ENDSECTION(4);
 
         if(StrLen(in) > 0) {
@@ -554 +579 @@
             #endif
 
-
+            PROFILER_BEGINSECTION(5);
             // take first value, decide what to do...
             tmp        = SubStr(in,  0, 1);  // pos 0
             packetType = StrToNum(tmp);
+            PROFILER_ENDSECTION(5);
 
             // main packet handler!
@@ -563 +589 @@
             case PROTO_CONTROLLED_MOTORCMD: // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
             
+                PROFILER_BEGINSECTION(6);
                 // parse...
                 tmp      = SubStr(in,  1, 1);  // pos 1
@@ -575 +602 @@
                 tmp      = SubStr(in,  11, 1); // pos 11
                 modebits = StrToNum(tmp);
+                PROFILER_ENDSECTION(6);
                 
-
+                PROFILER_BEGINSECTION(7);
                 // process...
                 // power
@@ -601 +629 @@
                     smoothstart = false;
                 }//end if
+                PROFILER_ENDSECTION(7);
 
 
@@ -606 +635 @@
                 if (port == 0) { // OUT_A
 
+                    PROFILER_BEGINSECTION(8);
                     motorParamsA.power = power;
                     motorParamsA.tacholimit = angle;
@@ -617 +647 @@
                         TaskBusySignal();
                     } // end if
+                    PROFILER_ENDSECTION(8);
 
                 } else if (port == 1) { // OUT_B
@@ -700 +731 @@
                 break;
             case PROTO_ISMOTORREADY:  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
-            
+
+                PROFILER_BEGINSECTION(9);
                 tmp      = SubStr(in,  1, 1);  // pos 1
                 port     = StrToNum(tmp);
+                PROFILER_ENDSECTION(9);
                 
+                PROFILER_BEGINSECTION(10);
                 // send answer string: portnum, then if ready or not
                 if (IsMotorReady(port)) {
@@ -710 +744 @@
                     tmp = StrCat(tmp, "0");
                 }//end if
+                PROFILER_ENDSECTION(10);
+                
+                PROFILER_BEGINSECTION(11);
                 SendMessage(OUTBOX, tmp);
+                PROFILER_ENDSECTION(11);
+                
                 
                 break;
             case PROTO_CLASSIC_MOTORCMD: // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
             
+                PROFILER_BEGINSECTION(12);
                 // parse...
                 tmp      = SubStr(in,  1, 1);  // pos 1
@@ -742 +782 @@
                 //% OUT_BC      0x05
                 //% OUT_ABC     0x06
+                PROFILER_ENDSECTION(12);
+
 
                 if (port <= 2) {
@@ -773 +815 @@
                     }//end switch
 
-
+                    PROFILER_BEGINSECTION(13);
                     // if no current tacholimit and no new one, allow speed change
                     if ((MotorTachoLimit(port1) == 0) && (MotorTachoLimit(port2) == 0)  && (angle == 0)) {
@@ -805 +847 @@
                         
                     }//end if
-
+                    PROFILER_ENDSECTION(13);
                 }//end if
             
@@ -832 +874 @@
             MotorOff(OUT_B);
             MotorOff(OUT_C);
+            
+            PROFILER_STOP();
             
             TextOut(5,LCD_LINE7, "EMERGENCY STOP    ", false);