mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-07 09:13:32 +08:00
Fix top output, indentation for #7020
Previously load stats were stored outside of the printloop, but with the refactoring to save memory state was reset and used in the first loop before the actual load calculations were valid. Fixed by moving the summary info to the bottom of the top printout after everything is computed. Also restructured the callback to not depend on a line counter and fixed astyle glitches.
This commit is contained in:
Nate Weibley
Beat Küng
@@ -116,11 +116,35 @@ tstate_name(const tstate_t s)
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void print_load_buffer(uint64_t t, char *buffer, int buffer_length, print_load_callback_f cb, void *user,
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struct print_load_s *print_state)
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{
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#pragma GCC diagnostic push
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#pragma GCC diagnostic ignored "-Wformat" // NuttX uses a different printf format
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#pragma GCC diagnostic ignored "-Wformat-extra-args"
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buffer[0] = 0;
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cb(user);
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/* header for task list */
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snprintf(buffer, buffer_length, "%4s %*-s %8s %6s %11s %10s %-6s",
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"PID",
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CONFIG_TASK_NAME_SIZE, "COMMAND",
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"CPU(ms)",
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"CPU(%)",
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"USED/STACK",
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"PRIO(BASE)",
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#if CONFIG_RR_INTERVAL > 0
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"TSLICE"
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#else
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"STATE"
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#endif
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);
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cb(user);
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print_state->new_time = t;
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int i;
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uint64_t curr_time_us;
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uint64_t idle_time_us;
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float idle_load = 0.f;
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curr_time_us = t;
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idle_time_us = system_load.tasks[0].total_runtime;
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@@ -163,54 +187,52 @@ void print_load_buffer(uint64_t t, char *buffer, int buffer_length, print_load_c
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stack_free = up_check_intstack_remain();
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} else {
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#endif
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stack_free = up_check_tcbstack_remain(system_load.tasks[i].tcb);
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#if CONFIG_ARCH_INTERRUPTSTACK > 3
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}
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#else
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stack_free = up_check_tcbstack_remain(system_load.tasks[i].tcb);
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#endif
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unsigned tcb_sched_priority = system_load.tasks[i].tcb->sched_priority;
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#if CONFIG_ARCH_BOARD_SIM || !defined(CONFIG_PRIORITY_INHERITANCE)
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#else
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unsigned tcb_base_priority = system_load.tasks[i].tcb->base_priority;
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#endif
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#if CONFIG_RR_INTERVAL > 0
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unsigned tcb_timeslice = system_load.tasks[i].tcb->timeslice);
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unsigned tcb_timeslice = system_load.tasks[i].tcb->timeslice;
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#endif
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unsigned tcb_task_state = system_load.tasks[i].tcb->task_state;
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unsigned tcb_sched_priority = system_load.tasks[i].tcb->sched_priority;
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sched_unlock();
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switch (tcb_task_state) {
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// astyle formatting bug
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case TSTATE_TASK_PENDING:
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case TSTATE_TASK_READYTORUN:
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case TSTATE_TASK_RUNNING:
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print_state->running_count++;
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break;
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case TSTATE_TASK_PENDING:
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case TSTATE_TASK_READYTORUN:
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case TSTATE_TASK_RUNNING:
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print_state->running_count++;
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break;
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case TSTATE_TASK_INVALID:
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case TSTATE_TASK_INACTIVE:
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case TSTATE_WAIT_SEM:
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#ifndef CONFIG_DISABLE_SIGNALS
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case TSTATE_WAIT_SIG:
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case TSTATE_WAIT_SIG:
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#endif
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#ifndef CONFIG_DISABLE_MQUEUE
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case TSTATE_WAIT_MQNOTEMPTY:
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case TSTATE_WAIT_MQNOTFULL:
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case TSTATE_WAIT_MQNOTEMPTY:
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case TSTATE_WAIT_MQNOTFULL:
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#endif
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#ifdef CONFIG_PAGING
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case TSTATE_WAIT_PAGEFILL:
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case TSTATE_WAIT_PAGEFILL:
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#endif
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print_state->blocked_count++;
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break;
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}
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case TSTATE_TASK_INVALID:
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case TSTATE_TASK_INACTIVE:
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case TSTATE_WAIT_SEM:
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print_state->blocked_count++;
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break;
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}
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interval_runtime = (print_state->last_times[i] > 0 && total_runtime[i] > print_state->last_times[i])
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interval_runtime = (print_state->last_times[i] > 0 && total_runtime[i] > print_state->last_times[i])
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? (total_runtime[i] - print_state->last_times[i]) : 0;
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print_state->last_times[i] = total_runtime[i];
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@@ -218,87 +240,23 @@ void print_load_buffer(uint64_t t, char *buffer, int buffer_length, print_load_c
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float current_load = 0.f;
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if (print_state->new_time > print_state->interval_start_time) {
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current_load = interval_runtime * print_state->interval_time_ms_inv;
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current_load = interval_runtime * print_state->interval_time_ms_inv;
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if (tcb_pid != 0) {
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if (tcb_pid != 0) {
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print_state->total_user_time += interval_runtime;
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} else {
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idle_load = current_load;
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}
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}
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if (print_state->new_time <= print_state->interval_start_time) {
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continue; // not enough data yet
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}
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// print output
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#pragma GCC diagnostic push
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#pragma GCC diagnostic ignored "-Wformat" // NuttX uses a different printf format
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#pragma GCC diagnostic ignored "-Wformat-extra-args"
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if (tcb_pid == 0) {
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float idle;
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float task_load;
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float sched_load;
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idle = current_load;
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task_load = (float)(print_state->total_user_time) * print_state->interval_time_ms_inv;
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/* this can happen if one tasks total runtime was not computed
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correctly by the scheduler instrumentation TODO */
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if (task_load > (1.f - idle)) {
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task_load = (1.f - idle);
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}
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sched_load = 1.f - idle - task_load;
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snprintf(buffer, buffer_length, "Processes: %d total, %d running, %d sleeping",
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system_load.total_count,
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print_state->running_count,
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print_state->blocked_count);
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cb(user);
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snprintf(buffer, buffer_length, "CPU usage: %.2f%% tasks, %.2f%% sched, %.2f%% idle",
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(double)(task_load * 100.f),
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(double)(sched_load * 100.f),
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(double)(idle * 100.f));
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cb(user);
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#if defined(BOARD_DMA_ALLOC_POOL_SIZE)
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uint16_t dma_total;
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uint16_t dma_used;
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uint16_t dma_peak_used;
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if (board_get_dma_usage(&dma_total, &dma_used, &dma_peak_used) >= 0) {
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snprintf(buffer, buffer_length, "DMA Memory: %d total, %d used %d peak",
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dma_total,
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dma_used,
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dma_peak_used);
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cb(user);
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}
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#endif
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snprintf(buffer, buffer_length, "Uptime: %.3fs total, %.3fs idle",
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(double)curr_time_us / 1000000.d,
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(double)idle_time_us / 1000000.d);
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cb(user);
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/* header for task list */
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snprintf(buffer, buffer_length, "%4s %*-s %8s %6s %11s %10s %-6s",
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"PID",
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CONFIG_TASK_NAME_SIZE, "COMMAND",
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"CPU(ms)",
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"CPU(%)",
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"USED/STACK",
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"PRIO(BASE)",
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#if CONFIG_RR_INTERVAL > 0
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"TSLICE"
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#else
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"STATE"
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#endif
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);
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cb(user);
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continue; // not enough data yet
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}
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// print output
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int print_len = snprintf(buffer, buffer_length, "%4d %*-s %8d %2d.%03d %5u/%5u %3u (%3u) ",
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tcb_pid,
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CONFIG_TASK_NAME_SIZE, tcb_name,
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@@ -324,6 +282,51 @@ void print_load_buffer(uint64_t t, char *buffer, int buffer_length, print_load_c
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cb(user);
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}
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// Print footer
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buffer[0] = 0;
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cb(user);
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float task_load;
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float sched_load;
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task_load = (float)(print_state->total_user_time) * print_state->interval_time_ms_inv;
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/* this can happen if one tasks total runtime was not computed
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correctly by the scheduler instrumentation TODO */
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if (task_load > (1.f - idle_load)) {
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task_load = (1.f - idle_load);
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}
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sched_load = 1.f - idle_load - task_load;
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snprintf(buffer, buffer_length, "Processes: %d total, %d running, %d sleeping",
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system_load.total_count,
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print_state->running_count,
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print_state->blocked_count);
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cb(user);
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snprintf(buffer, buffer_length, "CPU usage: %.2f%% tasks, %.2f%% sched, %.2f%% idle",
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(double)(task_load * 100.f),
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(double)(sched_load * 100.f),
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(double)(idle_load * 100.f));
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cb(user);
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#if defined(BOARD_DMA_ALLOC_POOL_SIZE)
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uint16_t dma_total;
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uint16_t dma_used;
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uint16_t dma_peak_used;
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if (board_get_dma_usage(&dma_total, &dma_used, &dma_peak_used) >= 0) {
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snprintf(buffer, buffer_length, "DMA Memory: %d total, %d used %d peak",
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dma_total,
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dma_used,
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dma_peak_used);
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cb(user);
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}
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#endif
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snprintf(buffer, buffer_length, "Uptime: %.3fs total, %.3fs idle",
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(double)curr_time_us / 1000000.d,
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(double)idle_time_us / 1000000.d);
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cb(user);
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print_state->interval_start_time = print_state->new_time;
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#pragma GCC diagnostic pop
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@@ -331,7 +334,6 @@ void print_load_buffer(uint64_t t, char *buffer, int buffer_length, print_load_c
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struct print_load_callback_data_s {
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int counter;
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int fd;
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char buffer[140];
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};
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@@ -346,12 +348,6 @@ static void print_load_callback(void *user)
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}
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dprintf(data->fd, "%s%s\n", clear_line, data->buffer);
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if (data->counter == 3) {
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dprintf(data->fd, "%s\n", clear_line);
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}
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++data->counter;
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}
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void print_load(uint64_t t, int fd, struct print_load_s *print_state)
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@@ -363,8 +359,6 @@ void print_load(uint64_t t, int fd, struct print_load_s *print_state)
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struct print_load_callback_data_s data;
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data.counter = 0;
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data.fd = fd;
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print_load_buffer(t, data.buffer, sizeof(data.buffer), print_load_callback, &data, print_state);
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