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Merge beta
This commit is contained in:
Lorenz Meier
+19
-194
@@ -1,7 +1,6 @@
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/****************************************************************************
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*
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* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
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* Author: Lorenz Meier <lm@inf.ethz.ch>
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* Copyright (c) 2012, 2013, 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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@@ -36,8 +35,8 @@
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* @file top.c
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* Tool similar to UNIX top command
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* @see http://en.wikipedia.org/wiki/Top_unix
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*
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* @author Lorenz Meier <lm@inf.ethz.ch>
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*
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* @author Lorenz Meier <lorenz@px4.io>
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*/
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#include <px4_config.h>
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@@ -49,208 +48,34 @@
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#include <poll.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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#define CL "\033[K" // clear line
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/**
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* Start the top application.
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*/
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__EXPORT int top_main(void);
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extern struct system_load_s system_load;
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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: return "init";
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case TSTATE_TASK_PENDING: return "PEND";
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case TSTATE_TASK_READYTORUN: return "READY";
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case TSTATE_TASK_RUNNING: return "RUN";
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case TSTATE_TASK_INACTIVE: return "inact";
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case TSTATE_WAIT_SEM: return "w:sem";
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#ifndef CONFIG_DISABLE_SIGNALS
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case TSTATE_WAIT_SIG: return "w:sig";
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#endif
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#ifndef CONFIG_DISABLE_MQUEUE
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case TSTATE_WAIT_MQNOTEMPTY: return "w:mqe";
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case TSTATE_WAIT_MQNOTFULL: return "w:mqf";
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#endif
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#ifdef CONFIG_PAGING
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case TSTATE_WAIT_PAGEFILL: 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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__EXPORT int top_main(int argc, char *argv[]);
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int
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top_main(void)
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top_main(int argc, char *argv[])
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{
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uint64_t total_user_time = 0;
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hrt_abstime curr_time = hrt_absolute_time();
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int running_count = 0;
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int blocked_count = 0;
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uint64_t new_time = hrt_absolute_time();
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uint64_t interval_start_time = new_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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for (int t = 0; t < CONFIG_MAX_TASKS; t++)
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last_times[t] = 0;
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float interval_time_ms_inv = 0.f;
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struct print_load_s load;
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init_print_load_s(curr_time, &load);
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/* clear screen */
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printf("\033[2J");
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dprintf(1, "\033[2J\n");
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if (argc > 1 && !strcmp(argv[1], "once")) {
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print_load(curr_time, 1, &load);
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sleep(1);
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print_load(hrt_absolute_time(), 1, &load);
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return 0;
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}
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for (;;) {
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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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curr_time_us = hrt_absolute_time();
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idle_time_us = system_load.tasks[0].total_runtime;
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if (new_time > interval_start_time)
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interval_time_ms_inv = 1.f / ((float)((new_time - interval_start_time) / 1000));
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running_count = 0;
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blocked_count = 0;
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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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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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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 && last_times[i] > 0 &&
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system_load.tasks[i].total_runtime > last_times[i])
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? (system_load.tasks[i].total_runtime - last_times[i]) / 1000
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: 0;
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last_times[i] = system_load.tasks[i].total_runtime;
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if (system_load.tasks[i].valid && (new_time > interval_start_time)) {
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curr_loads[i] = interval_runtime * interval_time_ms_inv;
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if (i > 0)
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total_user_time += interval_runtime;
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} else
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curr_loads[i] = 0;
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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 && (new_time > 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 = curr_loads[0];
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task_load = (float)(total_user_time) * 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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sched_load = 1.f - idle - task_load;
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/* print system information */
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printf("\033[H"); /* move cursor home and clear screen */
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printf(CL "Processes: %d total, %d running, %d sleeping\n",
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system_load.total_count,
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running_count,
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blocked_count);
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printf(CL "CPU usage: %.2f%% tasks, %.2f%% sched, %.2f%% idle\n",
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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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printf(CL "Uptime: %.3fs total, %.3fs idle\n\n",
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(double)curr_time_us / 1000000.d,
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(double)idle_time_us / 1000000.d);
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/* header for task list */
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printf(CL "%4s %*-s %8s %6s %11s %10s %-6s\n",
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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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stack_free++;
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}
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printf(CL "%4d %*-s %8lld %2d.%03d %5u/%5u %3u (%3u) ",
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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)(curr_loads[i] * 100.0f),
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(int)((curr_loads[i] * 100.0f - (int)(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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printf(" %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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printf(" %-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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interval_start_time = new_time;
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print_load(curr_time, 1, &load);
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/* Sleep 200 ms waiting for user input five times ~ 1s */
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for (int k = 0; k < 5; k++) {
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@@ -279,7 +104,7 @@ top_main(void)
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usleep(200000);
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}
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new_time = hrt_absolute_time();
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curr_time = hrt_absolute_time();
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}
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return OK;
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