forked from Archive/PX4-Autopilot
254 lines
8.6 KiB
C
254 lines
8.6 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: @author Lorenz Meier <lm@inf.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file top.c
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* Tool similar to UNIX top command
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* @see http://en.wikipedia.org/wiki/Top_unix
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*/
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#include <nuttx/config.h>
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#include <stdio.h>
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#include <fcntl.h>
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#include <stdbool.h>
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#include <unistd.h>
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#include <string.h>
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#include <poll.h>
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#include <systemlib/cpuload.h>
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#include <drivers/drv_hrt.h>
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/**
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* Start the top application.
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*/
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__EXPORT int top_main(int argc, char *argv[]);
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extern struct system_load_s system_load;
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bool top_sigusr1_rcvd = false;
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int top_main(int argc, char *argv[])
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{
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int t;
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uint64_t total_user_time = 0;
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int running_count = 0;
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int blocked_count = 0;
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uint64_t new_time = hrt_absolute_time();
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uint64_t interval_start_time = new_time;
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uint64_t last_times[CONFIG_MAX_TASKS];
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float curr_loads[CONFIG_MAX_TASKS];
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for (t = 0; t < CONFIG_MAX_TASKS; t++)
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last_times[t] = 0;
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float interval_time_ms_inv = 0.f;
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/* Open console directly to grab CTRL-C signal */
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int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY);
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while (true)
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// for (t = 0; t < 10; t++)
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{
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int i;
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uint64_t curr_time_ms = (hrt_absolute_time() / 1000LLU);
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unsigned int curr_time_s = curr_time_ms / 1000LLU;
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uint64_t idle_time_total_ms = (system_load.tasks[0].total_runtime / 1000LLU);
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unsigned int idle_time_total_s = idle_time_total_ms / 1000LLU;
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if (new_time > interval_start_time)
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interval_time_ms_inv = 1.f / ((float)((new_time - interval_start_time) / 1000));
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running_count = 0;
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blocked_count = 0;
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total_user_time = 0;
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for (i = 0; i < CONFIG_MAX_TASKS; i++) {
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uint64_t interval_runtime = (system_load.tasks[i].valid && last_times[i] > 0 && system_load.tasks[i].total_runtime > last_times[i]) ? (system_load.tasks[i].total_runtime - last_times[i]) / 1000 : 0;
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last_times[i] = system_load.tasks[i].total_runtime;
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if (system_load.tasks[i].valid && (new_time > interval_start_time)) {
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curr_loads[i] = interval_runtime * interval_time_ms_inv;
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if (i > 0)
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total_user_time += interval_runtime;
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} else
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curr_loads[i] = 0;
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}
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for (i = 0; i < CONFIG_MAX_TASKS; i++) {
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if (system_load.tasks[i].valid && (new_time > interval_start_time)) {
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if (system_load.tasks[i].tcb->pid == 0) {
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float idle = curr_loads[0];
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float task_load = (float)(total_user_time) * interval_time_ms_inv;
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if (task_load > (1.f - idle)) task_load = (1.f - idle); /* this can happen if one tasks total runtime was not computed correctly by the scheduler instrumentation TODO */
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float sched_load = 1.f - idle - task_load;
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/* print system information */
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printf("\033[H"); /* cursor home */
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printf("\033[KProcesses: %d total, %d running, %d sleeping\n", system_load.total_count, running_count, blocked_count);
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printf("\033[KCPU usage: %d.%02d%% tasks, %d.%02d%% sched, %d.%02d%% idle\n", (int)(task_load * 100), (int)((task_load * 10000.0f) - (int)(task_load * 100.0f) * 100), (int)(sched_load * 100), (int)((sched_load * 10000.0f) - (int)(sched_load * 100.0f) * 100), (int)(idle * 100), (int)((idle * 10000.0f) - ((int)(idle * 100)) * 100));
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printf("\033[KUptime: %u.%03u s total, %d.%03d s idle\n\033[K\n", curr_time_s, (unsigned int)(curr_time_ms - curr_time_s * 1000LLU), idle_time_total_s, (int)(idle_time_total_ms - idle_time_total_s * 1000));
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/* 34 chars command name length (32 chars plus two spaces) */
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char header_spaces[CONFIG_TASK_NAME_SIZE + 1];
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memset(header_spaces, ' ', CONFIG_TASK_NAME_SIZE);
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header_spaces[CONFIG_TASK_NAME_SIZE] = '\0';
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#if CONFIG_RR_INTERVAL > 0
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printf("\033[KPID\tCOMMAND%s CPU TOTAL \t%%CPU CURR \tSTACK USE\tCURR (BASE) PRIO\tRR SLICE\n", header_spaces);
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#else
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printf("\033[KPID\tCOMMAND%s CPU TOTAL \t%%CPU CURR \tSTACK USE\tCURR (BASE) PRIO\n", header_spaces);
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#endif
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} else {
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enum tstate_e task_state = (enum tstate_e)system_load.tasks[i].tcb->task_state;
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if (task_state == TSTATE_TASK_PENDING ||
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task_state == TSTATE_TASK_READYTORUN ||
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task_state == TSTATE_TASK_RUNNING) {
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running_count++;
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}
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if (task_state == TSTATE_TASK_INACTIVE || /* BLOCKED - Initialized but not yet activated */
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task_state == TSTATE_WAIT_SEM /* BLOCKED - Waiting for a semaphore */
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#ifndef CONFIG_DISABLE_SIGNALS
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|| task_state == TSTATE_WAIT_SIG /* BLOCKED - Waiting for a signal */
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#endif
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#ifndef CONFIG_DISABLE_MQUEUE
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|| task_state == TSTATE_WAIT_MQNOTEMPTY /* BLOCKED - Waiting for a MQ to become not empty. */
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|| task_state == TSTATE_WAIT_MQNOTFULL /* BLOCKED - Waiting for a MQ to become not full. */
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#endif
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#ifdef CONFIG_PAGING
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|| task_state == TSTATE_WAIT_PAGEFILL /* BLOCKED - Waiting for page fill */
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#endif
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) {
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blocked_count++;
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}
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char spaces[CONFIG_TASK_NAME_SIZE + 2];
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/* count name len */
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int namelen = 0;
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while (namelen < CONFIG_TASK_NAME_SIZE) {
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if (system_load.tasks[i].tcb->name[namelen] == '\0') break;
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namelen++;
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}
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int s = 0;
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for (s = 0; s < CONFIG_TASK_NAME_SIZE + 2 - namelen; s++) {
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spaces[s] = ' ';
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}
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spaces[s] = '\0';
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char *runtime_spaces = " ";
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if ((system_load.tasks[i].total_runtime / 1000) < 99) {
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runtime_spaces = "";
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}
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unsigned stack_size = (uintptr_t)system_load.tasks[i].tcb->adj_stack_ptr -
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(uintptr_t)system_load.tasks[i].tcb->stack_alloc_ptr;
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unsigned stack_free = 0;
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uint8_t *stack_sweeper = (uint8_t *)system_load.tasks[i].tcb->stack_alloc_ptr;
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while (stack_free < stack_size) {
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if (*stack_sweeper++ != 0xff)
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break;
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stack_free++;
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}
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printf("\033[K % 2d\t%s%s % 8lld ms%s \t % 2d.%03d \t % 4u / % 4u",
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(int)system_load.tasks[i].tcb->pid,
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system_load.tasks[i].tcb->name,
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spaces,
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(system_load.tasks[i].total_runtime / 1000),
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runtime_spaces,
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(int)(curr_loads[i] * 100),
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(int)(curr_loads[i] * 100000.0f - (int)(curr_loads[i] * 1000.0f) * 100),
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stack_size - stack_free,
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stack_size);
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/* Print scheduling info with RR time slice */
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#if CONFIG_RR_INTERVAL > 0
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printf("\t%d\t(%d)\t\t%d\n", (int)system_load.tasks[i].tcb->sched_priority, (int)system_load.tasks[i].tcb->base_priority, (int)system_load.tasks[i].tcb->timeslice);
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#else
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/* Print scheduling info without time slice*/
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printf("\t%d (%d)\n", (int)system_load.tasks[i].tcb->sched_priority, (int)system_load.tasks[i].tcb->base_priority);
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#endif
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}
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}
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}
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printf("\033[K[ Hit Ctrl-C to quit. ]\n\033[J");
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fflush(stdout);
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interval_start_time = new_time;
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char c;
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/* Sleep 200 ms waiting for user input four times */
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/* XXX use poll ... */
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for (int k = 0; k < 4; k++) {
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if (read(console, &c, 1) == 1) {
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if (c == 0x03 || c == 0x63) {
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printf("Abort\n");
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close(console);
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return OK;
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}
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}
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usleep(200000);
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}
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new_time = hrt_absolute_time();
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}
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close(console);
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return OK;
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}
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