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Linux: Added commands to show threads and devices 

The list_tasks and list_devices commands will show
lists of running px4 threads and created virtual device nodes.

The list_builtins command was removes and the list of commands
will be shown if return is pressed.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois 2015-04-07 16:09:43 -07:00
parent 1d676b2e10
commit f0312d2da0
8 changed files with 106 additions and 43 deletions
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30
Tools/linux_apps.py
View File

@ -44,16 +44,25 @@ print
print """
#include <string>
#include <map>
#define __EXPORT
#include <px4_tasks.h>
#include <px4_posix.h>
using namespace std;
extern void px4_show_devices(void);
extern "C" {
"""
for app in apps:
print "extern int "+app+"_main(int argc, char *argv[]);"
print """
static int list_builtins_main(int argc, char *argv[]);
static int shutdown_main(int argc, char *argv[]);
static int list_tasks_main(int argc, char *argv[]);
static int list_devices_main(int argc, char *argv[]);
}
@ -66,21 +75,20 @@ static map<string,px4_main_t> app_map(void)
for app in apps:
print '\tapps["'+app+'"] = '+app+'_main;'
print '\tapps["list_builtins"] = list_builtins_main;'
print '\tapps["shutdown"] = shutdown_main;'
print '\tapps["list_tasks"] = list_tasks_main;'
print '\tapps["list_devices"] = list_devices_main;'
print """
return apps;
}
map<string,px4_main_t> apps = app_map();
static int list_builtins_main(int argc, char *argv[])
static void list_builtins(void)
{
cout << "Builtin Commands:" << endl;
for (map<string,px4_main_t>::iterator it=apps.begin(); it!=apps.end(); ++it)
cout << '\t' << it->first << endl;
return 0;
}
static int shutdown_main(int argc, char *argv[])
@ -88,5 +96,17 @@ static int shutdown_main(int argc, char *argv[])
cout << "Shutting down" << endl;
exit(0);
}
static int list_tasks_main(int argc, char *argv[])
{
px4_show_tasks();
return 0;
}
static int list_devices_main(int argc, char *argv[])
{
px4_show_devices();
return 0;
}
"""

11
src/drivers/device/vdev.cpp
View File

@ -454,5 +454,16 @@ VDev *VDev::getDev(const char *path)
return NULL;
}
void VDev::showDevices()
{
int i=0;
printf("Devices:\n");
for (; i<PX4_MAX_DEV; ++i) {
if (devmap[i]) {
printf(" %s\n", devmap[i]->name);
}
}
}
} // namespace device

7
src/drivers/device/vdev.h
View File

@ -64,10 +64,10 @@ struct px4_dev_handle_t {
int fd;
int flags;
void *priv;
void *cdev;
void *vdev;
px4_dev_handle_t() : fd(-1), flags(0), priv(NULL), cdev(NULL) {}
px4_dev_handle_t(int f, void *c, int d) : fd(d), flags(f), priv(NULL), cdev(c) {}
px4_dev_handle_t() : fd(-1), flags(0), priv(NULL), vdev(NULL) {}
px4_dev_handle_t(int f, void *c, int d) : fd(d), flags(f), priv(NULL), vdev(c) {}
};
/**
@ -333,6 +333,7 @@ public:
virtual int ioctl(px4_dev_handle_t *handlep, int cmd, unsigned long arg);
static VDev *getDev(const char *path);
static void showDevices(void);
protected:

17
src/drivers/device/vdev_posix.cpp
View File

@ -117,7 +117,7 @@ int px4_close(int fd)
{
int ret;
if (valid_fd(fd)) {
VDev *dev = (VDev *)(filemap[fd]->cdev);
VDev *dev = (VDev *)(filemap[fd]->vdev);
PX4_DEBUG("px4_close fd = %d\n", fd);
ret = dev->close(filemap[fd]);
filemap[fd] = NULL;
@ -135,7 +135,7 @@ ssize_t px4_read(int fd, void *buffer, size_t buflen)
{
int ret;
if (valid_fd(fd)) {
VDev *dev = (VDev *)(filemap[fd]->cdev);
VDev *dev = (VDev *)(filemap[fd]->vdev);
PX4_DEBUG("px4_read fd = %d\n", fd);
ret = dev->read(filemap[fd], (char *)buffer, buflen);
}
@ -152,7 +152,7 @@ ssize_t px4_write(int fd, const void *buffer, size_t buflen)
{
int ret = PX4_ERROR;
if (valid_fd(fd)) {
VDev *dev = (VDev *)(filemap[fd]->cdev);
VDev *dev = (VDev *)(filemap[fd]->vdev);
PX4_DEBUG("px4_write fd = %d\n", fd);
ret = dev->write(filemap[fd], (const char *)buffer, buflen);
}
@ -169,7 +169,7 @@ int px4_ioctl(int fd, int cmd, unsigned long arg)
{
int ret = PX4_ERROR;
if (valid_fd(fd)) {
VDev *dev = (VDev *)(filemap[fd]->cdev);
VDev *dev = (VDev *)(filemap[fd]->vdev);
PX4_DEBUG("px4_ioctl fd = %d\n", fd);
ret = dev->ioctl(filemap[fd], cmd, arg);
}
@ -206,7 +206,7 @@ int px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout)
// If fd is valid
if (valid_fd(fds[i].fd))
{
VDev *dev = (VDev *)(filemap[fds[i].fd]->cdev);;
VDev *dev = (VDev *)(filemap[fds[i].fd]->vdev);;
PX4_DEBUG("px4_poll: VDev->poll(setup) %d\n", fds[i].fd);
ret = dev->poll(filemap[fds[i].fd], &fds[i], true);
@ -250,7 +250,7 @@ int px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout)
// If fd is valid
if (valid_fd(fds[i].fd))
{
VDev *dev = (VDev *)(filemap[fds[i].fd]->cdev);;
VDev *dev = (VDev *)(filemap[fds[i].fd]->vdev);;
PX4_DEBUG("px4_poll: VDev->poll(teardown) %d\n", fds[i].fd);
ret = dev->poll(filemap[fds[i].fd], &fds[i], false);
@ -269,5 +269,10 @@ cleanup:
return count;
}
void px4_show_devices()
{
VDev::showDevices();
}
}

12
src/platforms/linux/main.cpp
View File

@ -48,6 +48,7 @@ using namespace std;
typedef int (*px4_main_t)(int argc, char *argv[]);
#include "apps.h"
#include "px4_middleware.h"
void run_cmd(const vector<string> &appargs);
void run_cmd(const vector<string> &appargs) {
@ -62,12 +63,12 @@ void run_cmd(const vector<string> &appargs) {
++i;
}
arg[i] = (char *)0;
//cout << command << " " << i << endl;
apps[command](i,(char **)arg);
}
else
{
cout << "Invalid command" << endl;
list_builtins();
}
}
@ -85,21 +86,16 @@ int main(int argc, char **argv)
if (argc == 2) {
ifstream infile(argv[1]);
//vector<string> tokens;
for (string line; getline(infile, line, '\n'); ) {
process_line(line);
}
}
string mystr;
vector<string> appargs(2);
appargs[0] = "list_builtins";
while(1) {
run_cmd(appargs);
px4::init(argc, argv, "mainapp");
while(1) {
cout << "Enter a command and its args:" << endl;
getline (cin,mystr);
process_line(mystr);

68
src/platforms/linux/px4_layer/px4_linux_tasks.c
View File

@ -42,24 +42,28 @@
#include <stdlib.h>
#include <errno.h>
#include <stdbool.h>
#include <signal.h>
#include <fcntl.h>
#include <sched.h>
#include <signal.h>
#include <unistd.h>
#include <float.h>
#include <string.h>
#include <sys/stat.h>
#include <sys/types.h>
//#include <systemlib/systemlib.h>
#include <px4_tasks.h>
#define MAX_CMD_LEN 100
#define PX4_MAX_TASKS 100
static pthread_t taskmap[PX4_MAX_TASKS] = {};
typedef struct
{
pthread_t pid;
const char *name;
bool isused;
} task_entry;
static task_entry taskmap[PX4_MAX_TASKS] = {};
typedef struct
{
@ -69,15 +73,16 @@ typedef struct
// strings are allocated after the
} pthdata_t;
void entry_adapter ( void *ptr );
void entry_adapter ( void *ptr )
static void entry_adapter ( void *ptr )
{
pthdata_t *data;
data = (pthdata_t *) ptr;
data->entry(data->argc, data->argv);
free(ptr);
pthread_exit(0);
printf("Before px4_task_exit\n");
px4_task_exit(0);
printf("After px4_task_exit\n");
}
void
@ -170,9 +175,10 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
printf("pthread_create task=%lu rv=%d\n",(unsigned long)task, rv);
for (i=0; i<PX4_MAX_TASKS; ++i) {
// FIXME - precludes pthread task to have an ID of 0
if (taskmap[i] == 0) {
taskmap[i] = task;
if (taskmap[i].isused == false) {
taskmap[i].pid = task;
taskmap[i].name = name;
taskmap[i].isused = true;
break;
}
}
@ -186,21 +192,22 @@ int px4_task_delete(px4_task_t id)
{
int rv = 0;
pthread_t pid;
//printf("Called px4_task_delete\n");
printf("Called px4_task_delete\n");
if (id < PX4_MAX_TASKS && taskmap[id] != 0)
pid = taskmap[id];
if (id < PX4_MAX_TASKS && taskmap[id].isused)
pid = taskmap[id].pid;
else
return -EINVAL;
// If current thread then exit, otherwise cancel
if (pthread_self() == pid) {
taskmap[id].isused = false;
pthread_exit(0);
} else {
rv = pthread_cancel(pid);
}
taskmap[id] = 0;
taskmap[id].isused = false;
return rv;
}
@ -212,14 +219,15 @@ void px4_task_exit(int ret)
// Get pthread ID from the opaque ID
for (i=0; i<PX4_MAX_TASKS; ++i) {
// FIXME - precludes pthread task to have an ID of 0
if (taskmap[i] == pid) {
taskmap[i] = 0;
if (taskmap[i].pid == pid) {
taskmap[i].isused = false;
break;
}
}
if (i>=PX4_MAX_TASKS)
printf("px4_task_exit: self task not found!\n");
else
printf("px4_task_exit: %s\n", taskmap[i].name);
pthread_exit((void *)(unsigned long)ret);
}
@ -229,7 +237,7 @@ void px4_killall(void)
//printf("Called px4_killall\n");
for (int i=0; i<PX4_MAX_TASKS; ++i) {
// FIXME - precludes pthread task to have an ID of 0
if (taskmap[i] != 0) {
if (taskmap[i].isused == true) {
px4_task_delete(i);
}
}
@ -241,8 +249,8 @@ int px4_task_kill(px4_task_t id, int sig)
pthread_t pid;
//printf("Called px4_task_delete\n");
if (id < PX4_MAX_TASKS && taskmap[id] != 0)
pid = taskmap[id];
if (id < PX4_MAX_TASKS && taskmap[id].pid != 0)
pid = taskmap[id].pid;
else
return -EINVAL;
@ -251,3 +259,21 @@ int px4_task_kill(px4_task_t id, int sig)
return rv;
}
void px4_show_tasks()
{
int idx;
int count = 0;
printf("Active Tasks:\n");
for (idx=0; idx < PX4_MAX_TASKS; idx++)
{
if (taskmap[idx].isused) {
printf(" %-10s %lu\n", taskmap[idx].name, taskmap[idx].pid);
count++;
}
}
if (count == 0)
printf(" No running tasks\n");
}

1
src/platforms/px4_posix.h
View File

@ -83,5 +83,6 @@ __EXPORT ssize_t px4_read(int fd, void *buffer, size_t buflen);
__EXPORT ssize_t px4_write(int fd, const void *buffer, size_t buflen);
__EXPORT int px4_ioctl(int fd, int cmd, unsigned long arg);
__EXPORT int px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout);
__EXPORT void px4_show_devices(void);
__END_DECLS

3
src/platforms/px4_tasks.h
View File

@ -95,5 +95,8 @@ __EXPORT int px4_task_kill(px4_task_t pid, int sig);
/** Exit current task with return value **/
__EXPORT void px4_task_exit(int ret);
/** Show a list of running tasks **/
__EXPORT void px4_show_tasks(void);
__END_DECLS