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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-06 15:08:53 +08:00
Merge beta
This commit is contained in:
Lorenz Meier
@@ -55,6 +55,7 @@ SRCS = \
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ifeq ($(PX4_TARGET_OS),nuttx)
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SRCS += err.c \
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printload.c \
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up_cxxinitialize.c
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endif
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@@ -0,0 +1,278 @@
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/****************************************************************************
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*
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* Copyright (c) 2015 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file printload.c
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*
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* Print the current system load.
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*
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* @author Lorenz Meier <lorenz@px4.io>
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*/
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#include <string.h>
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#include <stdio.h>
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#include <systemlib/cpuload.h>
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#include <systemlib/printload.h>
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#include <drivers/drv_hrt.h>
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extern struct system_load_s system_load;
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#define CL "\033[K" // clear line
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void init_print_load_s(uint64_t t, struct print_load_s *s)
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{
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s->total_user_time = 0;
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s->running_count = 0;
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s->blocked_count = 0;
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s->new_time = t;
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s->interval_start_time = t;
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for (int i = 0; i < CONFIG_MAX_TASKS; i++) {
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s->last_times[i] = 0;
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}
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s->interval_time_ms_inv = 0.f;
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}
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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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switch (s) {
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case TSTATE_TASK_INVALID:
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return "init";
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case TSTATE_TASK_PENDING:
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return "PEND";
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case TSTATE_TASK_READYTORUN:
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return "READY";
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case TSTATE_TASK_RUNNING:
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return "RUN";
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case TSTATE_TASK_INACTIVE:
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return "inact";
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case TSTATE_WAIT_SEM:
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return "w:sem";
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#ifndef CONFIG_DISABLE_SIGNALS
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case TSTATE_WAIT_SIG:
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return "w: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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return "w:mqe";
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case TSTATE_WAIT_MQNOTFULL:
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return "w:mqf";
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#endif
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#ifdef CONFIG_PAGING
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case TSTATE_WAIT_PAGEFILL:
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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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void print_load(uint64_t t, int fd, struct print_load_s *print_state)
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{
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print_state->new_time = t;
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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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char *clear_line = "";
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/* print system information */
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if (fd == 1) {
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dprintf(fd, "\033[H"); /* move cursor home and clear screen */
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clear_line = CL;
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}
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curr_time_us = t;
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idle_time_us = system_load.tasks[0].total_runtime;
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if (print_state->new_time > print_state->interval_start_time) {
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print_state->interval_time_ms_inv = 1.f / ((float)((print_state->new_time - print_state->interval_start_time) / 1000));
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}
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print_state->running_count = 0;
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print_state->blocked_count = 0;
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print_state->total_user_time = 0;
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for (i = 0; i < CONFIG_MAX_TASKS; i++) {
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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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print_state->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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print_state->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 && print_state->last_times[i] > 0 &&
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system_load.tasks[i].total_runtime > print_state->last_times[i])
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? (system_load.tasks[i].total_runtime - print_state->last_times[i]) / 1000
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: 0;
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print_state->last_times[i] = system_load.tasks[i].total_runtime;
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if (system_load.tasks[i].valid && (print_state->new_time > print_state->interval_start_time)) {
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print_state->curr_loads[i] = interval_runtime * print_state->interval_time_ms_inv;
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if (i > 0) {
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print_state->total_user_time += interval_runtime;
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}
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} else {
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print_state->curr_loads[i] = 0;
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}
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}
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for (i = 0; i < CONFIG_MAX_TASKS; i++) {
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if (system_load.tasks[i].valid && (print_state->new_time > print_state->interval_start_time)) {
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if (system_load.tasks[i].tcb->pid == 0) {
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float idle;
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float task_load;
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float sched_load;
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idle = print_state->curr_loads[0];
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task_load = (float)(print_state->total_user_time) * print_state->interval_time_ms_inv;
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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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}
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sched_load = 1.f - idle - task_load;
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dprintf(fd, "%sProcesses: %d total, %d running, %d sleeping\n",
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clear_line,
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system_load.total_count,
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print_state->running_count,
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print_state->blocked_count);
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dprintf(fd, "%sCPU usage: %.2f%% tasks, %.2f%% sched, %.2f%% idle\n",
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clear_line,
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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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dprintf(fd, "%sUptime: %.3fs total, %.3fs idle\n%s\n",
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clear_line,
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(double)curr_time_us / 1000000.d,
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(double)idle_time_us / 1000000.d,
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clear_line);
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/* header for task list */
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dprintf(fd, "%s%4s %*-s %8s %6s %11s %10s %-6s\n",
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clear_line,
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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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"TSLICE"
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#else
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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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}
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stack_free++;
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}
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dprintf(fd, "%s%4d %*-s %8lld %2d.%03d %5u/%5u %3u (%3u) ",
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clear_line,
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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)(print_state->curr_loads[i] * 100.0f),
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(int)((print_state->curr_loads[i] * 100.0f - (int)(print_state->curr_loads[i] * 100.0f)) * 1000),
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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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dprintf(fd, " %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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dprintf(fd, " %-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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print_state->interval_start_time = print_state->new_time;
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}
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@@ -0,0 +1,59 @@
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/****************************************************************************
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*
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* Copyright (c) 2015 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file printload.h
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*
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* Print the current system load.
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*
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* @author Lorenz Meier <lorenz@px4.io>
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*/
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#include <stdint.h>
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__EXPORT struct print_load_s {
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uint64_t total_user_time;
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int running_count;
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int blocked_count;
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uint64_t new_time;
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uint64_t interval_start_time;
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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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float interval_time_ms_inv;
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};
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__EXPORT void init_print_load_s(uint64_t t, struct print_load_s *s);
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__EXPORT void print_load(uint64_t t, int fd, struct print_load_s *print_state);
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