NuttX cpuload monitoring optimization

- Nuttx only process all suspend & resume scheduling notes when top is running, otherwise only track IDLE - convert cpuload and print load to c++ - delete unused fields from print_load struct - update hrt_store_absolute_time (previous unused)
2026-10-22 00:53:33 +08:00 · 2020-09-05 14:35:50 -04:00
parent a9798454cd
commit 023f6d3983
25 changed files with 339 additions and 240 deletions
@@ -0,0 +1,124 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file top.c
+ * Tool similar to UNIX top command
+ * @see http://en.wikipedia.org/wiki/Top_unix
+ *
+ * @author Lorenz Meier <lorenz@px4.io>
+ */
+
+#include <px4_platform_common/px4_config.h>
+#include <stdio.h>
+#include <fcntl.h>
+#include <stdbool.h>
+#include <unistd.h>
+#include <string.h>
+#include <poll.h>
+
+#include <px4_platform/cpuload.h>
+#include <px4_platform_common/printload.h>
+#include <drivers/drv_hrt.h>
+#include <px4_platform_common/module.h>
+
+static void print_usage(void)
+{
+	PRINT_MODULE_DESCRIPTION("Monitor running processes and their CPU, stack usage, priority and state");
+
+	PRINT_MODULE_USAGE_NAME_SIMPLE("top", "command");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("once", "print load only once");
+}
+
+extern "C" __EXPORT int top_main(int argc, char *argv[])
+{
+	print_load_s load{};
+	init_print_load(&load);
+	px4_usleep(200000);
+
+	/* clear screen */
+	dprintf(1, "\033[2J\n");
+
+	if (argc > 1) {
+		if (!strcmp(argv[1], "once")) {
+			px4_sleep(1);
+			print_load(STDOUT_FILENO, &load);
+
+		} else {
+			print_usage();
+		}
+
+		cpuload_monitor_stop();
+		return 0;
+	}
+
+	for (;;) {
+		print_load(STDOUT_FILENO, &load);
+
+		/* Sleep 200 ms waiting for user input five times ~ 1s */
+		for (int k = 0; k < 5; k++) {
+			char c;
+
+			struct pollfd fds;
+			int ret;
+			fds.fd = 0; /* stdin */
+			fds.events = POLLIN;
+			ret = poll(&fds, 1, 0);
+
+			if (ret > 0) {
+
+				ret = read(0, &c, 1);
+
+				if (ret) {
+					cpuload_monitor_stop();
+					return 1;
+				}
+
+				switch (c) {
+				case 0x03: // ctrl-c
+				case 0x1b: // esc
+				case 'c':
+				case 'q':
+					cpuload_monitor_stop();
+					return 0;
+					/* not reached */
+				}
+			}
+
+			px4_usleep(200000);
+		}
+	}
+
+	cpuload_monitor_stop();
+	return 0;
+}