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Darwin: Print the relative CPU load produced by each thread

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Lorenz Meier 2016-05-28 12:23:29 +02:00
parent 55c7ffbe62
commit 8f37e02c59
1 changed files with 100 additions and 1 deletions
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101
src/modules/systemlib/print_load_posix.c
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
* Copyright (c) 2015-2016 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
@ -39,13 +39,21 @@
* @author Lorenz Meier <lorenz@px4.io>
*/
#include <px4_posix.h>
#include <unistd.h>
#include <string.h>
#include <stdio.h>
#include <stdbool.h>
#include <systemlib/cpuload.h>
#include <systemlib/printload.h>
#include <drivers/drv_hrt.h>
#ifdef __PX4_DARWIN
#include <mach/mach.h>
#endif
extern struct system_load_s system_load;
#define CL "\033[K" // clear line
@ -70,5 +78,96 @@ void init_print_load_s(uint64_t t, struct print_load_s *s)
void print_load(uint64_t t, int fd, struct print_load_s *print_state)
{
char *clear_line = "";
/* print system information */
if (fd == 1) {
dprintf(fd, "\033[H"); /* move cursor home and clear screen */
clear_line = CL;
}
#ifdef __PX4_DARWIN
pid_t pid = getpid(); //-- this is the process id you need info for
task_t port;
task_for_pid(mach_task_self(), pid, &port);
task_info_data_t tinfo;
mach_msg_type_number_t task_info_count;
task_info_count = TASK_INFO_MAX;
kern_return_t kr = task_info(port, TASK_BASIC_INFO, (task_info_t)tinfo, &task_info_count);
if (kr != KERN_SUCCESS) {
return;
}
task_basic_info_t basic_info;
thread_array_t thread_list;
mach_msg_type_number_t thread_count;
thread_info_data_t th_info_data;
mach_msg_type_number_t thread_info_count;
thread_basic_info_t basic_info_th;
uint32_t stat_thread = 0;
basic_info = (task_basic_info_t)tinfo;
// get all threads of the PX4 main task
kr = task_threads(port, &thread_list, &thread_count);
if (kr != KERN_SUCCESS) {
PX4_WARN("ERROR getting thread list");
return;
}
if (thread_count > 0) {
stat_thread += thread_count;
}
long tot_sec = 0;
long tot_usec = 0;
long tot_cpu = 0;
dprintf(fd, "%sThreads: %d total\n",
clear_line,
thread_count);
for (int j = 0; j < thread_count; j++) {
thread_info_count = THREAD_INFO_MAX;
kr = thread_info(thread_list[j], THREAD_BASIC_INFO,
(thread_info_t)th_info_data, &thread_info_count);
if (kr != KERN_SUCCESS) {
PX4_WARN("ERROR getting thread info");
continue;
}
basic_info_th = (thread_basic_info_t)th_info_data;
if (!(basic_info_th->flags & TH_FLAGS_IDLE)) {
tot_sec = tot_sec + basic_info_th->user_time.seconds + basic_info_th->system_time.seconds;
tot_usec = tot_usec + basic_info_th->system_time.microseconds + basic_info_th->system_time.microseconds;
tot_cpu = tot_cpu + basic_info_th->cpu_usage;
}
// char tname[128];
// int ret = pthread_getname_np(pthread_t *thread,
// const char *name, size_t len);
dprintf(fd, "thread %d\t\t %d\n", j, basic_info_th->cpu_usage);
}
kr = vm_deallocate(mach_task_self(), (vm_offset_t)thread_list,
thread_count * sizeof(thread_t));
if (kr != KERN_SUCCESS) {
PX4_WARN("ERROR cleaning up thread info");
return;
}
#endif
}