Add profile block (timing can now be traced per sample with standard tracing).

Add some build flags to make more stuff switchable.
Fix delay setting for rs485 in block_vesp_tty. (prevent hanging serial port).

buildflags.mk.in

 HOSTSYS=@HOSTSYS@
 BUILDSYS=@BUILDSYS@
+
 BUILD_CONSOLE=@BUILD_CONSOLE@
 BUILD_CONSOLE_HTTPD=@BUILD_CONSOLE_HTTPD@
 BUILD_CONSOLE_J2000_INDI=@BUILD_CONSOLE_J2000_INDI@
+
+BUILD_ETHERCAT=@BUILD_ETHERCAT@
+BUILD_VESP=@BUILD_VESP@
+BUILD_AM335X=@BUILD_AM335X@

configure.ac

 AC_INIT(dt_ctrl, git)
 
+AC_SUBST(HOSTSYS,["$ac_cv_env_host_alias_value"])
+AC_SUBST(BUILDSYS,["$ac_cv_env_build_alias_value"])
+AS_IF([echo "$HOSTSYS" | grep "arm"],[HAVE_ARM=1],[HAVE_ARM=0])
+
+#######################################################################
+#
+#	Enable/disable controller
+#
+
+AC_ARG_ENABLE([ethercat],
+  [AS_HELP_STRING([--disable-ethercat], [Enable/Disable Ethercat @<:@yes@:>@])],
+  [:],
+  [enable_ethercat=yes])
+
+AC_ARG_ENABLE([vesp],
+  [AS_HELP_STRING([--disable-vesp], [Enable/Disable vesp @<:@yes@:>@])],
+  [:],
+  [enable_vesp=yes])
+
+AC_ARG_ENABLE([am335x],
+  [AS_HELP_STRING([--disable-am335x], [Enable/Disable am335x @<:@yes@:>@])],
+  [:],
+  [enable_am335x=yes])
+
 #######################################################################
 #
 #	Enable/disable console
 #
 
 AC_ARG_ENABLE([console],
-  [AS_HELP_STRING([--disable-console], [Enable console @<:@yes@:>@])],
+  [AS_HELP_STRING([--disable-console], [Enable/Disable console @<:@yes@:>@])],
   [:],
   [enable_console=yes])
 
@@ -60,8 +84,6 @@ AS_CASE(["$with_libindi"],
 #	Some conclusions based on test results
 #
 
-AC_SUBST(HOSTSYS,["$ac_cv_env_host_alias_value"])
-AC_SUBST(BUILDSYS,["$ac_cv_env_build_alias_value"])
 
 AS_IF([test "$enable_console" = "yes"],
   [AC_SUBST(BUILD_CONSOLE,["yes"])],
@@ -76,6 +98,20 @@ AS_IF([test "$BUILD_CONSOLE" = "yes" && test "$HAVE_LIBINDI" = "1"],
   [AC_SUBST(BUILD_CONSOLE_J2000_INDI,[""])])
 
 
+
+AS_IF([test "$enable_ethercat" = "yes"],
+  [AC_SUBST(BUILD_ETHERCAT,["yes"])],
+  [AC_SUBST(BUILD_ETHERCAT,[""])])
+
+AS_IF([test "$enable_vesp" = "yes"],
+  [AC_SUBST(BUILD_VESP,["yes"])],
+  [AC_SUBST(BUILD_VESP,[""])])
+
+AS_IF([test "$enable_am335x" = "yes" && test "$HAVE_ARM" = "1"],
+  [AC_SUBST(BUILD_AM335X,["yes"])],
+  [AC_SUBST(BUILD_AM335X,[""])])
+
+
 #######################################################################
 #
 #	Output
@@ -103,3 +139,16 @@ AS_IF([test "$BUILD_CONSOLE_HTTPD" != ""],
 AS_IF([test "$BUILD_CONSOLE_J2000_INDI" != ""],
    AC_MSG_NOTICE([    console_j2000_indi: yes]),
    AC_MSG_NOTICE([    console_j2000_indi: no]))
+
+
+AS_IF([test "$BUILD_ETHERCAT" != ""],
+   AC_MSG_NOTICE([    ethercat: yes]),
+   AC_MSG_NOTICE([    ethercat: no]))
+
+AS_IF([test "$BUILD_VESP" != ""],
+   AC_MSG_NOTICE([    vesp: yes]),
+   AC_MSG_NOTICE([    vesp: no]))
+
+AS_IF([test "$BUILD_AM335X" != ""],
+   AC_MSG_NOTICE([    am335x: yes]),
+   AC_MSG_NOTICE([    am335x: no]))

controller/block/block_controller_profile.c

+/*
+	Copyright Jeroen Vreeken (jeroen@vreeken.net), 2015
+
+	This program is free software: you can redistribute it and/or modify
+	it under the terms of the GNU General Public License as published by
+	the Free Software Foundation, either version 3 of the License, or
+	(at your option) any later version.
+
+	This program is distributed in the hope that it will be useful,
+	but WITHOUT ANY WARRANTY; without even the implied warranty of
+	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+	GNU General Public License for more details.
+
+	You should have received a copy of the GNU General Public License
+	along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include <controller/controller_block.h>
+#include <controller/controller_sample.h>
+#include <log/log.h>
+
+
+struct controller_block_private {
+	float latency;
+	float blocks;
+	float sample;
+};
+
+static void prof_calculate(struct controller_block *prof)
+{
+	struct controller_block_private *priv = prof->private;
+	struct timespec ts;
+
+	controller_sample_trigger->timestamp2timespec(&ts, controller_sample_latency);
+	priv->latency = ts.tv_sec + (double)ts.tv_nsec * 0.000000001;
+	controller_sample_trigger->timestamp2timespec(&ts, controller_sample_duration_blocks);
+	priv->blocks = ts.tv_sec + (double)ts.tv_nsec * 0.000000001;
+	controller_sample_trigger->timestamp2timespec(&ts, controller_sample_duration_sample);
+	priv->sample = ts.tv_sec + (double)ts.tv_nsec * 0.000000001;
+}
+
+static struct controller_block_outterm_list outterms[] = {
+	{ "latency", CONTROLLER_BLOCK_TERM_FLOAT, offsetof(struct controller_block_private, latency) },
+	{ "blocks", CONTROLLER_BLOCK_TERM_FLOAT, offsetof(struct controller_block_private, blocks) },
+	{ "sample", CONTROLLER_BLOCK_TERM_FLOAT, offsetof(struct controller_block_private, sample) },
+	{ NULL }
+};
+
+static struct controller_block * block_controller_profile_create(char *name, int argc, va_list val)
+{
+	struct controller_block *prof;
+	
+	if (!(prof = controller_block_alloc("controller_profile", name, sizeof(struct controller_block_private))))
+		return NULL;
+
+	if (controller_block_outterm_list_init(prof, outterms))
+		goto err_block;
+
+	prof->calculate = prof_calculate;
+
+	if (controller_block_add(prof))
+		goto err_block;
+	
+	return prof;
+
+err_block:
+	controller_block_free(prof);
+	return NULL;
+}
+
+BLOCK_CREATE(controller_profile) = {
+	.create = block_controller_profile_create,
+	.args = { NULL },
+};

controller/block/build.mk

@@ -9,6 +9,7 @@ BLOCKS := \
 	bridge_pwm \
 	command_bool \
 	command_float \
+	controller_profile \
 	counter \
 	debug \
 	decoder_uint32_bool \

controller/build.mk

@@ -12,11 +12,14 @@ $(eval $(call SUBDIR,controller))
 $(eval $(call SUBDIR,shell))
 $(eval $(call SUBDIR,block))
 $(eval $(call SUBDIR,trigger))
+ifdef BUILD_ETHERCAT
 $(eval $(call SUBDIR,ec))
+endif
 $(eval $(call SUBDIR,test))
+ifdef BUILD_VESP
 $(eval $(call SUBDIR,vesp))
-
-ifneq (,$(findstring arm,$(HW)))
+endif
+ifdef BUILD_AM335X
 $(eval $(call SUBDIR,am335x))
 endif
 

controller/controller/controller_sample.c

@@ -64,7 +64,7 @@ struct sample_timing {
 	char *name;
 };
 
-static struct sample_timing st_start, st_io, st_end, st_sample;
+static struct sample_timing st_start, st_block, st_end, st_sample;
 
 struct controller_sample_start_hook {
 	void (*func)(void *arg);
@@ -83,11 +83,9 @@ static void sample_timing_init(struct sample_timing *st, char *name)
 }
 
 static void sample_timing_add(struct sample_timing *st, 
-    controller_trigger_time t1, controller_trigger_time t2)
+    controller_trigger_time tt)
 {
-	int64_t t;
-	
-	t = t2 - t1;
+	int64_t t = tt;
 	
 	if (t > st->max)
 		st->max = t;
@@ -198,6 +196,9 @@ struct controller_trigger *controller_sample_trigger = NULL;
 static controller_trigger_time (*wait_next)(struct controller_trigger *) = NULL;
 static controller_trigger_time (*timestamp)(void) = NULL;
 
+controller_trigger_time controller_sample_latency;
+controller_trigger_time controller_sample_duration_blocks;
+controller_trigger_time controller_sample_duration_sample;
 /*
 	This thread should be realtime....
  */
@@ -207,7 +208,7 @@ static void *sample_thread(void *arg)
 	struct sched_param param;
 	controller_trigger_time t_trig;
 	controller_trigger_time t_start;
-	controller_trigger_time t_io;
+	controller_trigger_time t_block;
 	controller_trigger_time t_end;
 	param.sched_priority = 90;
 	sigset_t sigset;
@@ -260,17 +261,20 @@ static void *sample_thread(void *arg)
 		/* Do sample stuff */
 		controller_block_calculate();
 		
-		t_io = timestamp();
+		t_block = timestamp();
 		
 		controller_block_trace();
 		controller_sample_task_exec();
 		
 		t_end = timestamp();
 		
-		sample_timing_add(&st_start, t_trig, t_start);
-		sample_timing_add(&st_io, t_start, t_io);
-		sample_timing_add(&st_end, t_trig, t_end);
-		sample_timing_add(&st_sample, t_start, t_end);
+		controller_sample_latency = t_start - t_trig;
+		controller_sample_duration_blocks = t_block - t_start;
+		controller_sample_duration_sample = t_end - t_start;
+		sample_timing_add(&st_start, controller_sample_latency);
+		sample_timing_add(&st_block, controller_sample_duration_blocks);
+		sample_timing_add(&st_end, t_end - t_trig);
+		sample_timing_add(&st_sample, controller_sample_duration_sample);
 
 //		alarm(1);
 	}
@@ -301,7 +305,7 @@ static void *sample_monitor(void *arg)
 		log_send(LOG_T_DEBUG, "%s", linebuf);
 		sample_timing_snprintf(&st_end, linebuf, 200);
 		log_send(LOG_T_DEBUG, "%s", linebuf);
-		sample_timing_snprintf(&st_io, linebuf, 200);
+		sample_timing_snprintf(&st_block, linebuf, 200);
 		log_send(LOG_T_DEBUG, "%s", linebuf);
 		sample_timing_snprintf(&st_sample, linebuf, 200);
 		log_send(LOG_T_DEBUG, "%s", linebuf);
@@ -318,7 +322,7 @@ static void controller_sample_timing_reset(void)
 {
 	sample_timing_init(&st_start, "start");
 	sample_timing_init(&st_end, "end");
-	sample_timing_init(&st_io, "io");
+	sample_timing_init(&st_block, "blocks");
 	sample_timing_init(&st_sample, "sample");
 }
 
@@ -330,7 +334,7 @@ static ssize_t controller_sample_timing_snprintf(char *dest, size_t n)
 	used += sprintf(dest + used, "\n");
 	used += sample_timing_snprintf(&st_end, dest + used, n - used);
 	used += sprintf(dest + used, "\n");
-	used += sample_timing_snprintf(&st_io, dest + used, n - used);
+	used += sample_timing_snprintf(&st_block, dest + used, n - used);
 	used += sprintf(dest + used, "\n");
 	used += sample_timing_snprintf(&st_sample, dest + used, n  - used);
 	used += sprintf(dest + used, "\n");
@@ -394,7 +398,7 @@ int controller_sample_start(void)
 
 	sample_timing_init(&st_start, "start");
 	sample_timing_init(&st_end, "end");
-	sample_timing_init(&st_io, "io");
+	sample_timing_init(&st_block, "blocks");
 	sample_timing_init(&st_sample, "sample");
 
 	for (i = 0; i < controller_sample_start_hooks_nr; i++)

controller/controller/controller_sample.h

@@ -40,5 +40,8 @@ int controller_sample_trigger_create(char *name, int argc, va_list ap,
 extern controller_trigger_time controller_sample_timestamp;
 extern struct controller_trigger *controller_sample_trigger;
 
+extern controller_trigger_time controller_sample_latency;
+extern controller_trigger_time controller_sample_duration_blocks;
+extern controller_trigger_time controller_sample_duration_sample;
 
 #endif /* _INCLUDE_CONTROLLER_SAMPLE_ */

controller/dt_ctrl.ctrl

@@ -32,7 +32,12 @@ import "dt_ctrl_az_sim.ctrl"
 
 import "dt_ctrl_ec_sim.ctrl"
 
+
+
 blocks ($(frequency), $(delay)) {
+	# Profiling block, may be commented out.
+	{ "controller_profile", "profile" }
+
 	{ "setpoint_generator_3d", "azimuth_spg", 	"Azimuth_Setpoint", "rad" }
 	{ "servo_state",           "azimuth_servo_state"           }
 	{ "and4",                  "azimuth_safe_and"              }

controller/vesp/block_vesp_tty.c

@@ -235,7 +235,7 @@ static int vesp_dev_open(struct controller_block *block)
         }
 
 
-	struct serial_rs485 rs485conf;
+	struct serial_rs485 rs485conf = { 0 };
 
 	/* Enable RS485 mode: */
 	rs485conf.flags |= SER_RS485_ENABLED;
@@ -255,10 +255,10 @@ static int vesp_dev_open(struct controller_block *block)
 	}
 
 	/* Set rts delay before send, if needed: */
-	//rs485conf.delay_rts_before_send = ...;
+	rs485conf.delay_rts_before_send = 0;
 
 	/* Set rts delay after send, if needed: */
-	//rs485conf.delay_rts_after_send = ...;
+	rs485conf.delay_rts_after_send = 0;
 
 	/* Set this flag if you want to receive data even whilst sending data */
 	//rs485conf.flags |= SER_RS485_RX_DURING_TX;