mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-08 18:52:46 +08:00
Merge branch 'top' of https://github.com/a-ha/Firmware into top
This commit is contained in:
Lorenz Meier
+148
-119
@@ -51,19 +51,46 @@
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#include <systemlib/cpuload.h>
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#include <drivers/drv_hrt.h>
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#define CL "\033[K" // clear line
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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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__EXPORT int top_main(void);
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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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static const char *
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tstate_name(const tstate_t s)
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{
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int t;
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switch (s) {
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case TSTATE_TASK_INVALID: return "init";
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case TSTATE_TASK_PENDING: return "PEND";
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case TSTATE_TASK_READYTORUN: return "READY";
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case TSTATE_TASK_RUNNING: return "RUN";
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case TSTATE_TASK_INACTIVE: return "inact";
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case TSTATE_WAIT_SEM: return "w:sem";
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#ifndef CONFIG_DISABLE_SIGNALS
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case TSTATE_WAIT_SIG: return "w:sig";
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#endif
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#ifndef CONFIG_DISABLE_MQUEUE
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case TSTATE_WAIT_MQNOTEMPTY: return "w:mqe";
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case TSTATE_WAIT_MQNOTFULL: return "w:mqf";
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#endif
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#ifdef CONFIG_PAGING
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case TSTATE_WAIT_PAGEFILL: return "w:pgf";
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#endif
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default:
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return "ERROR";
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}
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}
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int
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top_main(void)
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{
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uint64_t total_user_time = 0;
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int running_count = 0;
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@@ -75,7 +102,7 @@ int top_main(int argc, char *argv[])
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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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for (int 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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@@ -83,16 +110,16 @@ int top_main(int argc, char *argv[])
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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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/* clear screen */
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printf("\033[2J");
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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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for (;;) {
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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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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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curr_time_us = hrt_absolute_time();
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idle_time_us = system_load.tasks[0].total_runtime;
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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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@@ -102,7 +129,38 @@ int top_main(int argc, char *argv[])
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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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uint64_t interval_runtime;
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if (system_load.tasks[i].valid) {
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switch (system_load.tasks[i].tcb->task_state) {
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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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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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#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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#endif
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#ifdef CONFIG_PAGING
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case TSTATE_WAIT_PAGEFILL:
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#endif
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blocked_count++;
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break;
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}
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}
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interval_runtime = (system_load.tasks[i].valid && last_times[i] > 0 &&
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system_load.tasks[i].total_runtime > last_times[i])
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? (system_load.tasks[i].total_runtime - last_times[i]) / 1000
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: 0;
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last_times[i] = system_load.tasks[i].total_runtime;
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@@ -111,7 +169,6 @@ int top_main(int argc, char *argv[])
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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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@@ -119,127 +176,99 @@ int top_main(int argc, char *argv[])
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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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float idle;
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float task_load;
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float sched_load;
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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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idle = curr_loads[0];
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task_load = (float)(total_user_time) * interval_time_ms_inv;
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float sched_load = 1.f - idle - task_load;
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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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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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printf("\033[H"); /* move cursor home and clear screen */
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printf(CL "Processes: %d total, %d running, %d sleeping\n",
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system_load.total_count,
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running_count,
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blocked_count);
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printf(CL "CPU usage: %.2f%% tasks, %.2f%% sched, %.2f%% idle\n",
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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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printf(CL "Uptime: %.3fs total, %.3fs idle\n\n",
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(double)curr_time_us / 1000000.d,
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(double)idle_time_us / 1000000.d);
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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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/* header for task list */
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printf(CL "%4s %*-s %8s %6s %11s %10s %-6s\n",
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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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printf("\033[KPID\tCOMMAND%s CPU TOTAL \t%%CPU CURR \tSTACK USE\tCURR (BASE) PRIO\tRR SLICE\n", header_spaces);
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"TSLICE"
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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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"STATE"
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#endif
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);
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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(CL "%4d %*-s %8lld %2d.%03d %5u/%5u %3u (%3u) ",
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system_load.tasks[i].tcb->pid,
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CONFIG_TASK_NAME_SIZE, system_load.tasks[i].tcb->name,
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(system_load.tasks[i].total_runtime / 1000),
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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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system_load.tasks[i].tcb->sched_priority,
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system_load.tasks[i].tcb->base_priority);
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#if CONFIG_RR_INTERVAL > 0
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/* print scheduling info with RR time slice */
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printf(" %6d\n", system_load.tasks[i].tcb->timeslice);
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#else
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// print task state instead
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printf(" %-6s\n", tstate_name(system_load.tasks[i].tcb->task_state));
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#endif
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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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/* Sleep 200 ms waiting for user input five times ~ 1s */
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/* XXX use poll ... */
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for (int k = 0; k < 4; k++) {
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for (int k = 0; k < 5; k++) {
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char c;
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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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switch (c) {
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case 0x03: // ctrl-c
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case 0x1b: // esc
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case 'c':
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case 'q':
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close(console);
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return OK;
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/* not reached */
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}
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}
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Reference in New Issue
Block a user