mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-24 15:40:31 +08:00
Some early gdb/Python macros for working with NuttX.
Note; only tested with gdb 7.6. Will definitely not work with the stock PX4 toolchain's gdb.
This commit is contained in:
px4dev
+298
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# GDB/Python functions for dealing with NuttX
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import gdb, gdb.types
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class NX_task(object):
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"""Reference to a NuttX task and methods for introspecting it"""
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def __init__(self, tcb_ptr):
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self._tcb = tcb_ptr.dereference()
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self._group = self._tcb['group'].dereference()
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self.pid = tcb_ptr['pid']
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@classmethod
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def for_tcb(cls, tcb):
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"""return a task with the given TCB pointer"""
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pidhash_sym = gdb.lookup_global_symbol('g_pidhash')
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pidhash_value = pidhash_sym.value()
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pidhash_type = pidhash_sym.type
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for i in range(pidhash_type.range()[0],pidhash_type.range()[1]):
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pidhash_entry = pidhash_value[i]
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if pidhash_entry['tcb'] == tcb:
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return cls(pidhash_entry['tcb'])
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return None
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@classmethod
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def for_pid(cls, pid):
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"""return a task for the given PID"""
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pidhash_sym = gdb.lookup_global_symbol('g_pidhash')
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pidhash_value = pidhash_sym.value()
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pidhash_type = pidhash_sym.type
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for i in range(pidhash_type.range()[0],pidhash_type.range()[1]):
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pidhash_entry = pidhash_value[i]
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if pidhash_entry['pid'] == pid:
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return cls(pidhash_entry['tcb'])
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return None
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@staticmethod
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def pids():
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"""return a list of all PIDs"""
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pidhash_sym = gdb.lookup_global_symbol('g_pidhash')
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pidhash_value = pidhash_sym.value()
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pidhash_type = pidhash_sym.type
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result = []
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for i in range(pidhash_type.range()[0],pidhash_type.range()[1]):
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entry = pidhash_value[i]
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pid = int(entry['pid'])
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if pid is not -1:
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result.append(pid)
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return result
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@staticmethod
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def tasks():
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"""return a list of all tasks"""
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tasks = []
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for pid in NX_task.pids():
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tasks.append(NX_task.for_pid(pid))
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return tasks
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def _state_is(self, state):
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"""tests the current state of the task against the passed-in state name"""
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statenames = gdb.types.make_enum_dict(gdb.lookup_type('enum tstate_e'))
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if self._tcb['task_state'] == statenames[state]:
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return True
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return False
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@property
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def stack_used(self):
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"""calculate the stack used by the thread"""
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if 'stack_used' not in self.__dict__:
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stack_base = self._tcb['stack_alloc_ptr'].cast(gdb.lookup_type('unsigned char').pointer())
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if stack_base == 0:
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self.__dict__['stack_used'] = 0
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else:
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stack_limit = self._tcb['adj_stack_size']
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for offset in range(0, stack_limit):
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if stack_base[offset] != 0xff:
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break
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self.__dict__['stack_used'] = stack_limit - offset
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return self.__dict__['stack_used']
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@property
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def name(self):
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"""return the task's name"""
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return self._tcb['name'].string()
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@property
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def state(self):
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"""return the name of the task's current state"""
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statenames = gdb.types.make_enum_dict(gdb.lookup_type('enum tstate_e'))
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for name,value in statenames.iteritems():
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if value == self._tcb['task_state']:
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return name
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return 'UNKNOWN'
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@property
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def waiting_for(self):
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"""return a description of what the task is waiting for, if it is waiting"""
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if self._state_is('TSTATE_WAIT_SEM'):
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waitsem = self._tcb['waitsem'].dereference()
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waitsem_holder = waitsem['holder']
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holder = NX_task.for_tcb(waitsem_holder['htcb'])
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if holder is not None:
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return '{}({})'.format(waitsem.address, holder.name)
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else:
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return '{}(<bad holder>)'.format(waitsem.address)
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if self._state_is('TSTATE_WAIT_SIG'):
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return 'signal'
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return None
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@property
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def is_waiting(self):
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"""tests whether the task is waiting for something"""
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if self._state_is('TSTATE_WAIT_SEM') or self._state_is('TSTATE_WAIT_SIG'):
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return True
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@property
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def is_runnable(self):
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"""tests whether the task is runnable"""
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if (self._state_is('TSTATE_TASK_PENDING') or
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self._state_is('TSTATE_TASK_READYTORUN') or
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self._state_is('TSTATE_TASK_RUNNING')):
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return True
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return False
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@property
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def file_descriptors(self):
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"""return a dictionary of file descriptors and inode pointers"""
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filelist = self._group['tg_filelist']
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filearray = filelist['fl_files']
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result = dict()
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for i in range(filearray.type.range()[0],filearray.type.range()[1]):
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inode = long(filearray[i]['f_inode'])
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if inode != 0:
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result[i] = inode
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return result
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@property
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def registers(self):
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if 'registers' not in self.__dict__:
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registers = dict()
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if self._state_is('TSTATE_TASK_RUNNING'):
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# XXX need to fix this to handle interrupt context
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registers['R0'] = long(gdb.parse_and_eval('$r0'))
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registers['R1'] = long(gdb.parse_and_eval('$r1'))
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registers['R2'] = long(gdb.parse_and_eval('$r2'))
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registers['R3'] = long(gdb.parse_and_eval('$r3'))
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registers['R4'] = long(gdb.parse_and_eval('$r4'))
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registers['R5'] = long(gdb.parse_and_eval('$r5'))
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registers['R6'] = long(gdb.parse_and_eval('$r6'))
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registers['R7'] = long(gdb.parse_and_eval('$r7'))
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registers['R8'] = long(gdb.parse_and_eval('$r8'))
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registers['R9'] = long(gdb.parse_and_eval('$r9'))
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registers['R10'] = long(gdb.parse_and_eval('$r10'))
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registers['R11'] = long(gdb.parse_and_eval('$r11'))
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registers['R12'] = long(gdb.parse_and_eval('$r12'))
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registers['R13'] = long(gdb.parse_and_eval('$r13'))
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registers['SP'] = long(gdb.parse_and_eval('$sp'))
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registers['R14'] = long(gdb.parse_and_eval('$r14'))
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registers['LR'] = long(gdb.parse_and_eval('$lr'))
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registers['R15'] = long(gdb.parse_and_eval('$r15'))
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registers['PC'] = long(gdb.parse_and_eval('$pc'))
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registers['XPSR'] = long(gdb.parse_and_eval('$xpsr'))
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# this would only be valid if we were in an interrupt
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registers['EXC_RETURN'] = 0
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# we should be able to get this...
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registers['PRIMASK'] = 0
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else:
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context = self._tcb['xcp']
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regs = context['regs']
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registers['R0'] = long(regs[27])
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registers['R1'] = long(regs[28])
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registers['R2'] = long(regs[29])
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registers['R3'] = long(regs[30])
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registers['R4'] = long(regs[2])
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registers['R5'] = long(regs[3])
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registers['R6'] = long(regs[4])
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registers['R7'] = long(regs[5])
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registers['R8'] = long(regs[6])
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registers['R9'] = long(regs[7])
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registers['R10'] = long(regs[8])
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registers['R11'] = long(regs[9])
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registers['R12'] = long(regs[31])
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registers['R13'] = long(regs[0])
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registers['SP'] = long(regs[0])
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registers['R14'] = long(regs[32])
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registers['LR'] = long(regs[32])
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registers['R15'] = long(regs[33])
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registers['PC'] = long(regs[33])
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registers['XPSR'] = long(regs[34])
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registers['EXC_RETURN'] = long(regs[10])
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registers['PRIMASK'] = long(regs[1])
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self.__dict__['registers'] = registers
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return self.__dict__['registers']
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def __repr__(self):
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return "<NX_task {}>".format(self.pid)
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def __str__(self):
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return "{}:{}".format(self.pid, self.name)
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def __format__(self, format_spec):
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return format_spec.format(
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pid = self.pid,
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name = self.name,
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state = self.state,
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waiting_for = self.waiting_for,
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stack_used = self.stack_used,
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stack_limit = self._tcb['adj_stack_size'],
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file_descriptors = self.file_descriptors,
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registers = self.registers
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)
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class NX_show_task (gdb.Command):
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"""(NuttX) prints information about a task"""
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def __init__(self):
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super(NX_show_task, self).__init__("show task", gdb.COMMAND_USER)
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def invoke(self, arg, from_tty):
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t = NX_task.for_pid(int(arg))
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if t is not None:
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my_fmt = 'PID:{pid} name:{name} state:{state}\n'
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my_fmt += ' stack used {stack_used} of {stack_limit}\n'
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if t.is_waiting:
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my_fmt += ' waiting for {waiting_for}\n'
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my_fmt += ' open files: {file_descriptors}\n'
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my_fmt += ' R0 {registers[R0]:#010x} {registers[R1]:#010x} {registers[R2]:#010x} {registers[R3]:#010x}\n'
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my_fmt += ' R4 {registers[R4]:#010x} {registers[R5]:#010x} {registers[R6]:#010x} {registers[R7]:#010x}\n'
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my_fmt += ' R8 {registers[R8]:#010x} {registers[R9]:#010x} {registers[R10]:#010x} {registers[R11]:#010x}\n'
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my_fmt += ' R12 {registers[PC]:#010x}\n'
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my_fmt += ' SP {registers[SP]:#010x} LR {registers[LR]:#010x} PC {registers[PC]:#010x} XPSR {registers[XPSR]:#010x}\n'
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print format(t, my_fmt)
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class NX_show_tasks (gdb.Command):
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"""(NuttX) prints a list of tasks"""
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def __init__(self):
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super(NX_show_tasks, self).__init__('show tasks', gdb.COMMAND_USER)
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def invoke(self, args, from_tty):
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tasks = NX_task.tasks()
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for t in tasks:
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print format(t, '{pid:<2} {name:<16} {state:<20} {stack_used:>4}/{stack_limit:<4}')
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NX_show_task()
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NX_show_tasks()
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class NX_show_heap (gdb.Command):
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"""(NuttX) prints the heap"""
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def __init__(self):
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super(NX_show_heap, self).__init__('show heap', gdb.COMMAND_USER)
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if gdb.lookup_type('struct mm_allocnode_s').sizeof == 8:
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self._allocflag = 0x80000000
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self._allocnodesize = 8
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else:
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self._allocflag = 0x8000
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self._allocnodesize = 4
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def _node_allocated(self, allocnode):
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if allocnode['preceding'] & self._allocflag:
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return True
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return False
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def _node_size(self, allocnode):
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return allocnode['size'] & ~self._allocflag
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def _print_allocations(self, region_start, region_end):
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if region_start >= region_end:
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print 'heap region {} corrupt'.format(hex(region_start))
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return
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nodecount = region_end - region_start
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print 'heap {} - {}'.format(region_start, region_end)
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cursor = 1
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while cursor < nodecount:
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allocnode = region_start[cursor]
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if self._node_allocated(allocnode):
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state = ''
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else:
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state = '(free)'
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print ' {} {} {}'.format(allocnode.address + 8, self._node_size(allocnode), state)
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cursor += self._node_size(allocnode) / self._allocnodesize
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def invoke(self, args, from_tty):
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heap = gdb.lookup_global_symbol('g_mmheap').value()
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nregions = heap['mm_nregions']
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region_starts = heap['mm_heapstart']
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region_ends = heap['mm_heapend']
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print "{} heap(s)".format(nregions)
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# walk the heaps
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for i in range(0, nregions):
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self._print_allocations(region_starts[i], region_ends[i])
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NX_show_heap()
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