mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-18 02:43:33 +08:00
Merge beta
This commit is contained in:
Lorenz Meier
+19
-194
@@ -1,7 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
|
||||
* Author: Lorenz Meier <lm@inf.ethz.ch>
|
||||
* Copyright (c) 2012, 2013, 2015 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
|
||||
@@ -36,8 +35,8 @@
|
||||
* @file top.c
|
||||
* Tool similar to UNIX top command
|
||||
* @see http://en.wikipedia.org/wiki/Top_unix
|
||||
*
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
*
|
||||
* @author Lorenz Meier <lorenz@px4.io>
|
||||
*/
|
||||
|
||||
#include <px4_config.h>
|
||||
@@ -49,208 +48,34 @@
|
||||
#include <poll.h>
|
||||
|
||||
#include <systemlib/cpuload.h>
|
||||
#include <systemlib/printload.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
#define CL "\033[K" // clear line
|
||||
|
||||
/**
|
||||
* Start the top application.
|
||||
*/
|
||||
__EXPORT int top_main(void);
|
||||
|
||||
extern struct system_load_s system_load;
|
||||
|
||||
static const char *
|
||||
tstate_name(const tstate_t s)
|
||||
{
|
||||
switch (s) {
|
||||
case TSTATE_TASK_INVALID: return "init";
|
||||
|
||||
case TSTATE_TASK_PENDING: return "PEND";
|
||||
case TSTATE_TASK_READYTORUN: return "READY";
|
||||
case TSTATE_TASK_RUNNING: return "RUN";
|
||||
|
||||
case TSTATE_TASK_INACTIVE: return "inact";
|
||||
case TSTATE_WAIT_SEM: return "w:sem";
|
||||
#ifndef CONFIG_DISABLE_SIGNALS
|
||||
case TSTATE_WAIT_SIG: return "w:sig";
|
||||
#endif
|
||||
#ifndef CONFIG_DISABLE_MQUEUE
|
||||
case TSTATE_WAIT_MQNOTEMPTY: return "w:mqe";
|
||||
case TSTATE_WAIT_MQNOTFULL: return "w:mqf";
|
||||
#endif
|
||||
#ifdef CONFIG_PAGING
|
||||
case TSTATE_WAIT_PAGEFILL: return "w:pgf";
|
||||
#endif
|
||||
|
||||
default:
|
||||
return "ERROR";
|
||||
}
|
||||
}
|
||||
__EXPORT int top_main(int argc, char *argv[]);
|
||||
|
||||
int
|
||||
top_main(void)
|
||||
top_main(int argc, char *argv[])
|
||||
{
|
||||
uint64_t total_user_time = 0;
|
||||
hrt_abstime curr_time = hrt_absolute_time();
|
||||
|
||||
int running_count = 0;
|
||||
int blocked_count = 0;
|
||||
|
||||
uint64_t new_time = hrt_absolute_time();
|
||||
uint64_t interval_start_time = new_time;
|
||||
|
||||
uint64_t last_times[CONFIG_MAX_TASKS];
|
||||
float curr_loads[CONFIG_MAX_TASKS];
|
||||
|
||||
for (int t = 0; t < CONFIG_MAX_TASKS; t++)
|
||||
last_times[t] = 0;
|
||||
|
||||
float interval_time_ms_inv = 0.f;
|
||||
struct print_load_s load;
|
||||
init_print_load_s(curr_time, &load);
|
||||
|
||||
/* clear screen */
|
||||
printf("\033[2J");
|
||||
dprintf(1, "\033[2J\n");
|
||||
|
||||
if (argc > 1 && !strcmp(argv[1], "once")) {
|
||||
print_load(curr_time, 1, &load);
|
||||
sleep(1);
|
||||
print_load(hrt_absolute_time(), 1, &load);
|
||||
return 0;
|
||||
}
|
||||
|
||||
for (;;) {
|
||||
int i;
|
||||
uint64_t curr_time_us;
|
||||
uint64_t idle_time_us;
|
||||
|
||||
curr_time_us = hrt_absolute_time();
|
||||
idle_time_us = system_load.tasks[0].total_runtime;
|
||||
|
||||
if (new_time > interval_start_time)
|
||||
interval_time_ms_inv = 1.f / ((float)((new_time - interval_start_time) / 1000));
|
||||
|
||||
running_count = 0;
|
||||
blocked_count = 0;
|
||||
total_user_time = 0;
|
||||
|
||||
for (i = 0; i < CONFIG_MAX_TASKS; i++) {
|
||||
uint64_t interval_runtime;
|
||||
|
||||
if (system_load.tasks[i].valid) {
|
||||
switch (system_load.tasks[i].tcb->task_state) {
|
||||
case TSTATE_TASK_PENDING:
|
||||
case TSTATE_TASK_READYTORUN:
|
||||
case TSTATE_TASK_RUNNING:
|
||||
running_count++;
|
||||
break;
|
||||
|
||||
case TSTATE_TASK_INVALID:
|
||||
case TSTATE_TASK_INACTIVE:
|
||||
case TSTATE_WAIT_SEM:
|
||||
#ifndef CONFIG_DISABLE_SIGNALS
|
||||
case TSTATE_WAIT_SIG:
|
||||
#endif
|
||||
#ifndef CONFIG_DISABLE_MQUEUE
|
||||
case TSTATE_WAIT_MQNOTEMPTY:
|
||||
case TSTATE_WAIT_MQNOTFULL:
|
||||
#endif
|
||||
#ifdef CONFIG_PAGING
|
||||
case TSTATE_WAIT_PAGEFILL:
|
||||
#endif
|
||||
blocked_count++;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
interval_runtime = (system_load.tasks[i].valid && last_times[i] > 0 &&
|
||||
system_load.tasks[i].total_runtime > last_times[i])
|
||||
? (system_load.tasks[i].total_runtime - last_times[i]) / 1000
|
||||
: 0;
|
||||
|
||||
last_times[i] = system_load.tasks[i].total_runtime;
|
||||
|
||||
if (system_load.tasks[i].valid && (new_time > interval_start_time)) {
|
||||
curr_loads[i] = interval_runtime * interval_time_ms_inv;
|
||||
|
||||
if (i > 0)
|
||||
total_user_time += interval_runtime;
|
||||
} else
|
||||
curr_loads[i] = 0;
|
||||
}
|
||||
|
||||
for (i = 0; i < CONFIG_MAX_TASKS; i++) {
|
||||
if (system_load.tasks[i].valid && (new_time > interval_start_time)) {
|
||||
if (system_load.tasks[i].tcb->pid == 0) {
|
||||
float idle;
|
||||
float task_load;
|
||||
float sched_load;
|
||||
|
||||
idle = curr_loads[0];
|
||||
task_load = (float)(total_user_time) * interval_time_ms_inv;
|
||||
|
||||
/* this can happen if one tasks total runtime was not computed
|
||||
correctly by the scheduler instrumentation TODO */
|
||||
if (task_load > (1.f - idle))
|
||||
task_load = (1.f - idle);
|
||||
|
||||
sched_load = 1.f - idle - task_load;
|
||||
|
||||
/* print system information */
|
||||
printf("\033[H"); /* move cursor home and clear screen */
|
||||
printf(CL "Processes: %d total, %d running, %d sleeping\n",
|
||||
system_load.total_count,
|
||||
running_count,
|
||||
blocked_count);
|
||||
printf(CL "CPU usage: %.2f%% tasks, %.2f%% sched, %.2f%% idle\n",
|
||||
(double)(task_load * 100.f),
|
||||
(double)(sched_load * 100.f),
|
||||
(double)(idle * 100.f));
|
||||
printf(CL "Uptime: %.3fs total, %.3fs idle\n\n",
|
||||
(double)curr_time_us / 1000000.d,
|
||||
(double)idle_time_us / 1000000.d);
|
||||
|
||||
/* header for task list */
|
||||
printf(CL "%4s %*-s %8s %6s %11s %10s %-6s\n",
|
||||
"PID",
|
||||
CONFIG_TASK_NAME_SIZE, "COMMAND",
|
||||
"CPU(ms)",
|
||||
"CPU(%)",
|
||||
"USED/STACK",
|
||||
"PRIO(BASE)",
|
||||
#if CONFIG_RR_INTERVAL > 0
|
||||
"TSLICE"
|
||||
#else
|
||||
"STATE"
|
||||
#endif
|
||||
);
|
||||
}
|
||||
|
||||
unsigned stack_size = (uintptr_t)system_load.tasks[i].tcb->adj_stack_ptr -
|
||||
(uintptr_t)system_load.tasks[i].tcb->stack_alloc_ptr;
|
||||
unsigned stack_free = 0;
|
||||
uint8_t *stack_sweeper = (uint8_t *)system_load.tasks[i].tcb->stack_alloc_ptr;
|
||||
|
||||
while (stack_free < stack_size) {
|
||||
if (*stack_sweeper++ != 0xff)
|
||||
break;
|
||||
|
||||
stack_free++;
|
||||
}
|
||||
|
||||
printf(CL "%4d %*-s %8lld %2d.%03d %5u/%5u %3u (%3u) ",
|
||||
system_load.tasks[i].tcb->pid,
|
||||
CONFIG_TASK_NAME_SIZE, system_load.tasks[i].tcb->name,
|
||||
(system_load.tasks[i].total_runtime / 1000),
|
||||
(int)(curr_loads[i] * 100.0f),
|
||||
(int)((curr_loads[i] * 100.0f - (int)(curr_loads[i] * 100.0f)) * 1000),
|
||||
stack_size - stack_free,
|
||||
stack_size,
|
||||
system_load.tasks[i].tcb->sched_priority,
|
||||
system_load.tasks[i].tcb->base_priority);
|
||||
|
||||
#if CONFIG_RR_INTERVAL > 0
|
||||
/* print scheduling info with RR time slice */
|
||||
printf(" %6d\n", system_load.tasks[i].tcb->timeslice);
|
||||
#else
|
||||
// print task state instead
|
||||
printf(" %-6s\n", tstate_name(system_load.tasks[i].tcb->task_state));
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
interval_start_time = new_time;
|
||||
print_load(curr_time, 1, &load);
|
||||
|
||||
/* Sleep 200 ms waiting for user input five times ~ 1s */
|
||||
for (int k = 0; k < 5; k++) {
|
||||
@@ -279,7 +104,7 @@ top_main(void)
|
||||
usleep(200000);
|
||||
}
|
||||
|
||||
new_time = hrt_absolute_time();
|
||||
curr_time = hrt_absolute_time();
|
||||
}
|
||||
|
||||
return OK;
|
||||
|
||||
Reference in New Issue
Block a user