PX4-Autopilot/src/modules/systemlib/printload.c

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/**
 * @file printload.c
 *
 * Print the current system load.
 *
 * @author Lorenz Meier <lorenz@px4.io>
 */

#include <string.h>
#include <stdio.h>

#include <systemlib/cpuload.h>
#include <systemlib/printload.h>
#include <drivers/drv_hrt.h>

extern struct system_load_s system_load;

#define CL "\033[K" // clear line

void init_print_load_s(uint64_t t, struct print_load_s *s)
{

	s->total_user_time = 0;

	s->running_count = 0;
	s->blocked_count = 0;

	s->new_time = t;
	s->interval_start_time = t;

	for (int i = 0; i < CONFIG_MAX_TASKS; i++) {
		s->last_times[i] = 0;
	}

	s->interval_time_ms_inv = 0.f;
}

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";
	}
}

void print_load_buffer(uint64_t t, char *buffer, int buffer_length, print_load_callback_f cb, void *user,
		       struct print_load_s *print_state)
{
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wformat" // NuttX uses a different printf format
#pragma GCC diagnostic ignored "-Wformat-extra-args"
	print_state->new_time = t;

	int   i;
	uint64_t curr_time_us;
	uint64_t idle_time_us;
	float idle_load = 0.f;

	curr_time_us = t;
	idle_time_us = system_load.tasks[0].total_runtime;

	if (print_state->new_time > print_state->interval_start_time) {
		print_state->interval_time_ms_inv = 1.f / ((float)((print_state->new_time - print_state->interval_start_time) / 1000));

		/* header for task list */
		snprintf(buffer, buffer_length, "%4s %*-s %8s %6s %11s %10s %-6s",
			 "PID",
			 CONFIG_TASK_NAME_SIZE, "COMMAND",
			 "CPU(ms)",
			 "CPU(%)",
			 "USED/STACK",
			 "PRIO(BASE)",
#if CONFIG_RR_INTERVAL > 0
			 "TSLICE"
#else
			 "STATE"
#endif
			);
		cb(user);

	}

	print_state->running_count = 0;
	print_state->blocked_count = 0;
	print_state->total_user_time = 0;

	// create a copy of the runtimes because this could be updated during the print output
	uint32_t total_runtime[CONFIG_MAX_TASKS];

	for (i = 0; i < CONFIG_MAX_TASKS; i++) {
		total_runtime[i] = (uint32_t)(system_load.tasks[i].total_runtime / 1000);
	}

	for (i = 0; i < CONFIG_MAX_TASKS; i++) {

		sched_lock(); // need to lock the tcb access (but make it as short as possible)

		if (!system_load.tasks[i].valid) {
			sched_unlock();
			continue;
		}

		uint64_t interval_runtime;
		unsigned tcb_pid = system_load.tasks[i].tcb->pid;
		size_t stack_size = system_load.tasks[i].tcb->adj_stack_size;
		ssize_t stack_free = 0;
		char tcb_name[CONFIG_TASK_NAME_SIZE];
		strncpy(tcb_name, system_load.tasks[i].tcb->name, CONFIG_TASK_NAME_SIZE);

#if CONFIG_ARCH_INTERRUPTSTACK > 3

		if (system_load.tasks[i].tcb->pid == 0) {
			stack_size = (CONFIG_ARCH_INTERRUPTSTACK & ~3);
			stack_free = up_check_intstack_remain();

		} else {
			stack_free = up_check_tcbstack_remain(system_load.tasks[i].tcb);
		}

#else
		stack_free = up_check_tcbstack_remain(system_load.tasks[i].tcb);
#endif

#if CONFIG_ARCH_BOARD_SIM || !defined(CONFIG_PRIORITY_INHERITANCE)
#else
		unsigned tcb_base_priority = system_load.tasks[i].tcb->base_priority;
#endif
#if CONFIG_RR_INTERVAL > 0
		unsigned tcb_timeslice = system_load.tasks[i].tcb->timeslice;
#endif
		unsigned tcb_task_state = system_load.tasks[i].tcb->task_state;
		unsigned tcb_sched_priority = system_load.tasks[i].tcb->sched_priority;


		sched_unlock();

		switch (tcb_task_state) {
		case TSTATE_TASK_PENDING:
		case TSTATE_TASK_READYTORUN:
		case TSTATE_TASK_RUNNING:
			print_state->running_count++;
			break;

#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
		case TSTATE_TASK_INVALID:
		case TSTATE_TASK_INACTIVE:
		case TSTATE_WAIT_SEM:
			print_state->blocked_count++;
			break;
		}

		interval_runtime = (print_state->last_times[i] > 0 && total_runtime[i] > print_state->last_times[i])
				   ? (total_runtime[i] - print_state->last_times[i]) : 0;

		print_state->last_times[i] = total_runtime[i];

		float current_load = 0.f;

		if (print_state->new_time > print_state->interval_start_time) {
			current_load = interval_runtime * print_state->interval_time_ms_inv;

			if (tcb_pid != 0) {
				print_state->total_user_time += interval_runtime;

			} else {
				idle_load = current_load;
			}

		}


		if (print_state->new_time <= print_state->interval_start_time) {
			continue; // not enough data yet
		}

		// print output
		int print_len = snprintf(buffer, buffer_length, "%4d %*-s %8d %2d.%03d %5u/%5u %3u (%3u) ",
					 tcb_pid,
					 CONFIG_TASK_NAME_SIZE, tcb_name,
					 total_runtime[i],
					 (int)(current_load * 100.0f),
					 (int)((current_load * 100.0f - (int)(current_load * 100.0f)) * 1000),
					 stack_size - stack_free,
					 stack_size,
					 tcb_sched_priority,
#if CONFIG_ARCH_BOARD_SIM || !defined(CONFIG_PRIORITY_INHERITANCE)
					 0);
#else
					 tcb_base_priority);
#endif
#if CONFIG_RR_INTERVAL > 0
		/* print scheduling info with RR time slice */
		snprintf(buffer + print_len, buffer_length - print_len, " %6d", tcb_timeslice);
		(void)tstate_name(TSTATE_TASK_INVALID); // Stop not used warning
#else
		// print task state instead
		snprintf(buffer + print_len, buffer_length - print_len, " %-6s", tstate_name(tcb_task_state));
#endif
		cb(user);
	}

	if (print_state->new_time <= print_state->interval_start_time) {
		// first run, not enough data yet
		return;
	}

	// Print footer
	buffer[0] = 0;
	cb(user);
	float task_load;
	float sched_load;

	task_load = (float)(print_state->total_user_time) * print_state->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_load)) {
		task_load = (1.f - idle_load);
	}

	sched_load = 1.f - idle_load - task_load;

	snprintf(buffer, buffer_length, "Processes: %d total, %d running, %d sleeping",
		 system_load.total_count,
		 print_state->running_count,
		 print_state->blocked_count);
	cb(user);
	snprintf(buffer, buffer_length, "CPU usage: %.2f%% tasks, %.2f%% sched, %.2f%% idle",
		 (double)(task_load * 100.f),
		 (double)(sched_load * 100.f),
		 (double)(idle_load * 100.f));
	cb(user);
#if defined(BOARD_DMA_ALLOC_POOL_SIZE)
	uint16_t dma_total;
	uint16_t dma_used;
	uint16_t dma_peak_used;

	if (board_get_dma_usage(&dma_total, &dma_used, &dma_peak_used) >= 0) {
		snprintf(buffer, buffer_length, "DMA Memory: %d total, %d used %d peak",
			 dma_total,
			 dma_used,
			 dma_peak_used);
		cb(user);
	}

#endif
	snprintf(buffer, buffer_length, "Uptime: %.3fs total, %.3fs idle",
		 (double)curr_time_us / 1000000.d,
		 (double)idle_time_us / 1000000.d);
	cb(user);

	print_state->interval_start_time = print_state->new_time;

#pragma GCC diagnostic pop
}


struct print_load_callback_data_s {
	int fd;
	char buffer[140];
};

static void print_load_callback(void *user)
{
	char *clear_line = "";
	struct print_load_callback_data_s *data = (struct print_load_callback_data_s *)user;

	if (data->fd == 1) {
		clear_line = CL;
	}

	dprintf(data->fd, "%s%s\n", clear_line, data->buffer);
}

void print_load(uint64_t t, int fd, struct print_load_s *print_state)
{
	/* print system information */
	if (fd == 1) {
		dprintf(fd, "\033[H"); /* move cursor home and clear screen */
	}

	struct print_load_callback_data_s data;

	data.fd = fd;

	print_load_buffer(t, data.buffer, sizeof(data.buffer), print_load_callback, &data, print_state);
}