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uORB: top output improvements

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- sleep slightly longer than 1s to capture 1 Hz topics
 - round msg rate calculation
 - add topic size to outpu
 - by default only print topics with subscribers
 - clear previous output (past cursor)
This commit is contained in:
Daniel Agar
2020-05-05 22:48:31 -04:00
committed by Beat Küng
parent 41660c3550
commit a2d170d850
2 changed files with 32 additions and 20 deletions
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src/modules/uORB/uORBDeviceMaster.cpp
+31 -19
View File
@@ -43,6 +43,8 @@
#include <px4_platform_common/sem.hpp> #include <px4_platform_common/sem.hpp>
#include <systemlib/px4_macros.h> #include <systemlib/px4_macros.h>
#include <math.h>
#ifndef __PX4_QURT // QuRT has no poll() #ifndef __PX4_QURT // QuRT has no poll()
#include <poll.h> #include <poll.h>
#endif // PX4_QURT #endif // PX4_QURT
@@ -311,8 +313,6 @@ void uORB::DeviceMaster::showTop(char **topic_filter, int num_filters)
} }
} }
PX4_INFO_RAW("\033[2J\n"); //clear screen
lock(); lock();
if (_node_list.empty()) { if (_node_list.empty()) {
@@ -351,23 +351,28 @@ void uORB::DeviceMaster::showTop(char **topic_filter, int num_filters)
#ifndef __PX4_QURT #ifndef __PX4_QURT
/* Sleep 200 ms waiting for user input five times ~ 1s */ if (!only_once) {
for (int k = 0; k < 5; k++) { /* Sleep 200 ms waiting for user input five times ~ 1.4s */
char c; for (int k = 0; k < 7; k++) {
char c;
ret = ::poll(&fds, 1, 0); //just want to check if there is new data available ret = ::poll(&fds, 1, 0); //just want to check if there is new data available
if (ret > 0) { if (ret > 0) {
ret = ::read(stdin_fileno, &c, 1); ret = ::read(stdin_fileno, &c, 1);
if (ret) { if (ret) {
quit = true; quit = true;
break; break;
}
} }
px4_usleep(200000);
} }
px4_usleep(200000); } else {
px4_usleep(2000000); // 2 seconds
} }
#endif #endif
@@ -382,8 +387,8 @@ void uORB::DeviceMaster::showTop(char **topic_filter, int num_filters)
while (cur_node) { while (cur_node) {
uint32_t num_lost = cur_node->node->lost_message_count(); uint32_t num_lost = cur_node->node->lost_message_count();
unsigned int num_msgs = cur_node->node->published_message_count(); unsigned int num_msgs = cur_node->node->published_message_count();
cur_node->pub_msg_delta = (num_msgs - cur_node->last_pub_msg_count) / dt; cur_node->pub_msg_delta = roundf((num_msgs - cur_node->last_pub_msg_count) / dt);
cur_node->lost_msg_delta = (num_lost - cur_node->last_lost_msg_count) / dt; cur_node->lost_msg_delta = roundf((num_lost - cur_node->last_lost_msg_count) / dt);
cur_node->last_lost_msg_count = num_lost; cur_node->last_lost_msg_count = num_lost;
cur_node->last_pub_msg_count = num_msgs; cur_node->last_pub_msg_count = num_msgs;
cur_node = cur_node->next; cur_node = cur_node->next;
@@ -392,23 +397,30 @@ void uORB::DeviceMaster::showTop(char **topic_filter, int num_filters)
start_time = current_time; start_time = current_time;
PX4_INFO_RAW("\033[H"); // move cursor home and clear screen if (!only_once) {
PX4_INFO_RAW("\033[H"); // move cursor to top left corner
}
PX4_INFO_RAW(CLEAR_LINE "update: 1s, num topics: %i\n", num_topics); PX4_INFO_RAW(CLEAR_LINE "update: 1s, num topics: %i\n", num_topics);
PX4_INFO_RAW(CLEAR_LINE "%-*s INST #SUB #MSG #LOST #QSIZE\n", (int)max_topic_name_length - 2, "TOPIC NAME"); PX4_INFO_RAW(CLEAR_LINE "%-*s INST #SUB RATE #LOST #Q SIZE\n", (int)max_topic_name_length - 2, "TOPIC NAME");
cur_node = first_node; cur_node = first_node;
while (cur_node) { while (cur_node) {
if (!print_active_only || cur_node->pub_msg_delta > 0) { if (!print_active_only || (cur_node->pub_msg_delta > 0 && cur_node->node->subscriber_count() > 0)) {
PX4_INFO_RAW(CLEAR_LINE "%-*s %2i %4i %4i %5i %i\n", (int)max_topic_name_length, PX4_INFO_RAW(CLEAR_LINE "%-*s %2i %4i %4i %5i %2i %4i \n", (int)max_topic_name_length,
cur_node->node->get_meta()->o_name, (int)cur_node->node->get_instance(), cur_node->node->get_meta()->o_name, (int)cur_node->node->get_instance(),
(int)cur_node->node->subscriber_count(), cur_node->pub_msg_delta, (int)cur_node->node->subscriber_count(), cur_node->pub_msg_delta,
(int)cur_node->lost_msg_delta, cur_node->node->get_queue_size()); (int)cur_node->lost_msg_delta, cur_node->node->get_queue_size(), cur_node->node->get_meta()->o_size);
} }
cur_node = cur_node->next; cur_node = cur_node->next;
} }
if (!only_once) {
PX4_INFO_RAW("\033[0J"); // clear the rest of the screen
}
lock(); lock();
ret = addNewDeviceNodes(&first_node, num_topics, max_topic_name_length, topic_filter, num_filters); ret = addNewDeviceNodes(&first_node, num_topics, max_topic_name_length, topic_filter, num_filters);
unlock(); unlock();
src/modules/uORB/uORBMain.cpp
+1 -1
View File
@@ -77,7 +77,7 @@ $ uorb top
PRINT_MODULE_USAGE_COMMAND("start"); PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_COMMAND_DESCR("status", "Print topic statistics"); PRINT_MODULE_USAGE_COMMAND_DESCR("status", "Print topic statistics");
PRINT_MODULE_USAGE_COMMAND_DESCR("top", "Monitor topic publication rates"); PRINT_MODULE_USAGE_COMMAND_DESCR("top", "Monitor topic publication rates");
PRINT_MODULE_USAGE_PARAM_FLAG('a', "print all instead of only currently publishing topics", true); PRINT_MODULE_USAGE_PARAM_FLAG('a', "print all instead of only currently publishing topics with subscribers", true);
PRINT_MODULE_USAGE_PARAM_FLAG('1', "run only once, then exit", true); PRINT_MODULE_USAGE_PARAM_FLAG('1', "run only once, then exit", true);
PRINT_MODULE_USAGE_ARG("<filter1> [<filter2>]", "topic(s) to match (implies -a)", true); PRINT_MODULE_USAGE_ARG("<filter1> [<filter2>]", "topic(s) to match (implies -a)", true);
} }