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px4-firmware/platforms/nuttx/Debug/poor-mans-profiler.sh

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#!/usr/bin/env bash
#
# Author: Pavel Kirienko <pavel.kirienko@zubax.com>
#
# Poor man's sampling profiler for NuttX.
#
# Usage: Install flamegraph.pl in your PATH, configure your .gdbinit, run the script with proper arguments and go
# have a coffee. When you're back, you'll see the flamegraph. Note that frequent calls to GDB significantly
# interfere with normal operation of the target, which means that you can't profile real-time tasks with it.
# For best results, ensure that the PC is not overloaded, the USB host controller to which the debugger is
# connected is not congested. You should also allow the current user to set negative nice values.
#
# The FlameGraph script can be downloaded from https://github.com/brendangregg/FlameGraph. Thanks Mr. Gregg.
#
# Requirements: ARM GDB with Python support. You can get one by downloading the sources from
# https://launchpad.net/gcc-arm-embedded and building them with correct flags.
# Note that Python support is not required if no per-task sampling is needed.
#
# Usage with PX4:
# 0) See above regarding flamegraph.pl
# 1) Connect your device, e.g. Pixhawk 4
# 2) Build PX4: make px4_fmu-v5_default
# 3) Flash PX4: make px4_fmu-v5_default upload
# 4) Connect a JTAG/SWD debugger, e.g. a DroneCode Probe
# 5) Profile: make px4_fmu-v5_default profile
set -e
root=$(dirname $0)
function die()
{
echo "$@"
exit 1
}
function usage()
{
echo "Invalid usage. Supported options:"
cat $0 | sed -n 's/^\s*--\([^)\*]*\).*/\1/p' # Don't try this at home.
exit 1
}
if [ -z `which flamegraph.pl` ]; then
echo "Install flamegraph.pl first. Available from:"
echo -e "\thttps://github.com/brendangregg/FlameGraph"
exit 1
fi
#
# Parsing the arguments. Read this section for usage info.
#
nsamples=0
sleeptime=0.1 # Doctors recommend 7-8 hours a day
taskname=
elf=
append=0
fgfontsize=10
fgwidth=1900
gdbdev=`ls /dev/serial/by-id/*Black_Magic_Probe*-if00`
for i in "$@"
do
case $i in
--nsamples=*)
nsamples="${i#*=}"
;;
--sleeptime=*)
sleeptime="${i#*=}"
;;
--taskname=*)
taskname="${i#*=}"
;;
--elf=*)
elf="${i#*=}"
;;
--append)
append=1
;;
--fgfontsize=*)
fgfontsize="${i#*=}"
;;
--fgwidth=*)
fgwidth="${i#*=}"
;;
--gdbdev=*)
gdbdev="${i#*=}"
;;
*)
usage
;;
esac
shift
done
[[ -z "$elf" ]] && die "Please specify the ELF file location, e.g.: build/px4_fmu-v4_default/px4_fmu-v4_default.elf"
#
# Temporary files
#
stacksfile=/tmp/pmpn-stacks.log
foldfile=/tmp/pmpn-folded.txt
graphfile=/tmp/pmpn-flamegraph.svg
gdberrfile=/tmp/pmpn-gdberr.log
#
# Sampling if requested. Note that if $append is true, the stack file will not be rewritten.
#
cd $root
if [[ $nsamples > 0 ]]
then
[[ $append = 0 ]] && (rm -f $stacksfile; echo "Old stacks removed")
echo "Sampling the task '$taskname'..."
for x in $(seq 1 $nsamples)
do
if [[ "$taskname" = "" ]]
then
arm-none-eabi-gdb $elf --nx --quiet --batch \
-ex "set print asm-demangle on" \
-ex "target extended $gdbdev" \
-ex "monitor swdp_scan" \
-ex "attach 1" \
-ex bt \
2> $gdberrfile \
| sed -n 's/\(#.*\)/\1/p' \
>> $stacksfile
else
arm-none-eabi-gdb $elf --nx --quiet --batch \
-ex "set print asm-demangle on" \
-ex "target extended $gdbdev" \
-ex "monitor swdp_scan" \
-ex "attach 1" \
-ex "source $root/Nuttx.py" \
-ex "show mybt $taskname" \
2> $gdberrfile \
| sed -n 's/0\.0:\(#.*\)/\1/p' \
>> $stacksfile
fi
echo -e '\n\n' >> $stacksfile
echo -ne "\r$x/$nsamples"
sleep $sleeptime
done
echo
echo "Stacks saved to $stacksfile"
else
echo "Sampling skipped - set 'nsamples' to re-sample."
fi
#
# Folding the stacks.
#
[ -f $stacksfile ] || die "Where are the stack samples? Expected file not found: $stacksfile"
cat << 'EOF' > /tmp/pmpn-folder.py
#
# This stack folder correctly handles C++ types.
#
from __future__ import print_function, division
import fileinput, collections, os, sys
def enforce(x, msg='Invalid input'):
if not x:
raise Exception(msg)
def split_first_part_with_parens(line):
LBRACES = {'(':'()', '<':'<>', '[':'[]', '{':'{}'}
RBRACES = {')':'()', '>':'<>', ']':'[]', '}':'{}'}
QUOTES = set(['"', "'"])
quotes = collections.defaultdict(bool)
braces = collections.defaultdict(int)
out = ''
for ch in line:
out += ch
# escape character cancels further processing
if ch == '\\':
continue
# special cases
if out.endswith('operator>') or out.endswith('operator>>') or out.endswith('operator->'): # gotta love c++
braces['<>'] += 1
if out.endswith('operator<') or out.endswith('operator<<'):
braces['<>'] -= 1
# switching quotes
if ch in QUOTES:
quotes[ch] = not quotes[ch]
# counting parens only when outside quotes
if sum(quotes.values()) == 0:
if ch in LBRACES.keys():
braces[LBRACES[ch]] += 1
if ch in RBRACES.keys():
braces[RBRACES[ch]] -= 1
# sanity check
for v in braces.values():
enforce(v >= 0, 'Unaligned braces: ' + str(dict(braces)))
# termination condition
if ch == ' ' and sum(braces.values()) == 0:
break
out = out.strip()
return out, line[len(out):]
def parse(line):
def take_path(line, output):
line = line.strip()
if line.startswith('at '):
line = line[3:].strip()
if line:
output['file_full_path'] = line.rsplit(':', 1)[0].strip()
output['file_base_name'] = os.path.basename(output['file_full_path'])
output['line'] = int(line.rsplit(':', 1)[1])
return output
def take_args(line, output):
line = line.lstrip()
if line[0] == '(':
output['args'], line = split_first_part_with_parens(line)
return take_path(line.lstrip(), output)
def take_function(line, output):
output['function'], line = split_first_part_with_parens(line.lstrip())
return take_args(line.lstrip(), output)
def take_mem_loc(line, output):
line = line.lstrip()
if line.startswith('0x'):
end = line.find(' ')
num = line[:end]
output['memloc'] = int(num, 16)
line = line[end:].lstrip()
end = line.find(' ')
enforce(line[:end] == 'in')
line = line[end:].lstrip()
return take_function(line, output)
def take_frame_num(line, output):
line = line.lstrip()
enforce(line[0] == '#')
end = line.find(' ')
num = line[1:end]
output['frame_num'] = int(num)
return take_mem_loc(line[end:], output)
return take_frame_num(line, {})
stacks = collections.defaultdict(int)
current = ''
stack_tops = collections.defaultdict(int)
num_stack_frames = 0
for idx,line in enumerate(fileinput.input()):
try:
line = line.strip()
if line:
inf = parse(line)
fun = inf['function']
current = (fun + ';' + current) if current else fun
if inf['frame_num'] == 0:
num_stack_frames += 1
stack_tops[fun] += 1
elif current:
stacks[current] += 1
current = ''
except Exception, ex:
print('ERROR (line %d):' % (idx + 1), ex, file=sys.stderr)
for s, f in sorted(stacks.items(), key=lambda (s, f): s):
print(s, f)
print('Total stack frames:', num_stack_frames, file=sys.stderr)
print('Top consumers (distribution of the stack tops):', file=sys.stderr)
for name,num in sorted(stack_tops.items(), key=lambda (name, num): num, reverse=True)[:300]:
print('% 7.3f%% ' % (100 * num / num_stack_frames), name, file=sys.stderr)
EOF
cat $stacksfile | python /tmp/pmpn-folder.py > $foldfile
echo "Folded stacks saved to $foldfile"
#
# Graphing.
#
cat $foldfile | flamegraph.pl --fontsize=$fgfontsize --width=$fgwidth > $graphfile
echo "FlameGraph saved to $graphfile"
# On KDE, xdg-open prefers Gwenview by default, which doesn't handle interactive SVGs, so we need a browser.
# The current implementation is hackish and stupid. Somebody, please do something about it.
opener=xdg-open
which firefox > /dev/null && opener=firefox
which google-chrome > /dev/null && opener=google-chrome
$opener $graphfile
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