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125 lines
3.3 KiB
C++
125 lines
3.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2012-2016 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 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 <lorenz@px4.io>
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*/
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#include <px4_platform_common/px4_config.h>
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#include <stdio.h>
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#include <fcntl.h>
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#include <stdbool.h>
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#include <unistd.h>
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#include <string.h>
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#include <poll.h>
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#include <px4_platform/cpuload.h>
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#include <px4_platform_common/printload.h>
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#include <drivers/drv_hrt.h>
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#include <px4_platform_common/module.h>
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static void print_usage()
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{
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PRINT_MODULE_DESCRIPTION("Monitor running processes and their CPU, stack usage, priority and state");
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PRINT_MODULE_USAGE_NAME_SIMPLE("top", "command");
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PRINT_MODULE_USAGE_COMMAND_DESCR("once", "print load only once");
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}
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extern "C" __EXPORT int top_main(int argc, char *argv[])
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{
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print_load_s load{};
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init_print_load(&load);
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px4_usleep(200000);
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/* clear screen */
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dprintf(1, "\033[2J\n");
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if (argc > 1) {
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if (!strcmp(argv[1], "once")) {
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px4_sleep(1);
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print_load(STDOUT_FILENO, &load);
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} else {
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print_usage();
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}
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cpuload_monitor_stop();
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return 0;
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}
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for (;;) {
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print_load(STDOUT_FILENO, &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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char c;
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struct pollfd fds;
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int ret;
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fds.fd = 0; /* stdin */
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fds.events = POLLIN;
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ret = poll(&fds, 1, 0);
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if (ret > 0) {
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ret = read(0, &c, 1);
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if (ret) {
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cpuload_monitor_stop();
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return 1;
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}
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switch (c) {
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case 0x03: // ctrl-c
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case 0x1b: // esc
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case 'c':
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case 'q':
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cpuload_monitor_stop();
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return 0;
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/* not reached */
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}
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}
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px4_usleep(200000);
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}
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}
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cpuload_monitor_stop();
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return 0;
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}
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