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253 lines
8.6 KiB
253 lines
8.6 KiB
/**************************************************************************** |
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* |
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* Copyright (C) 2012 PX4 Development Team. All rights reserved. |
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* Author: @author Lorenz Meier <lm@inf.ethz.ch> |
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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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#include <nuttx/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 <systemlib/cpuload.h> |
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#include <drivers/drv_hrt.h> |
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/** |
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* Start the top application. |
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*/ |
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__EXPORT int top_main(int argc, char *argv[]); |
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extern struct system_load_s system_load; |
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bool top_sigusr1_rcvd = false; |
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int top_main(int argc, char *argv[]) |
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{ |
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int t; |
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uint64_t total_user_time = 0; |
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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 (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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/* Open console directly to grab CTRL-C signal */ |
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int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY); |
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while (true) |
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// for (t = 0; t < 10; t++) |
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{ |
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int i; |
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uint64_t curr_time_ms = (hrt_absolute_time() / 1000LLU); |
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unsigned int curr_time_s = curr_time_ms / 1000LLU; |
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uint64_t idle_time_total_ms = (system_load.tasks[0].total_runtime / 1000LLU); |
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unsigned int idle_time_total_s = idle_time_total_ms / 1000LLU; |
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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 = (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; |
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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 = curr_loads[0]; |
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float task_load = (float)(total_user_time) * interval_time_ms_inv; |
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if (task_load > (1.f - idle)) task_load = (1.f - idle); /* this can happen if one tasks total runtime was not computed correctly by the scheduler instrumentation TODO */ |
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float sched_load = 1.f - idle - task_load; |
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/* print system information */ |
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printf("\033[H"); /* cursor home */ |
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printf("\033[KProcesses: %d total, %d running, %d sleeping\n", system_load.total_count, running_count, blocked_count); |
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printf("\033[KCPU usage: %d.%02d%% tasks, %d.%02d%% sched, %d.%02d%% idle\n", (int)(task_load * 100), (int)((task_load * 10000.0f) - (int)(task_load * 100.0f) * 100), (int)(sched_load * 100), (int)((sched_load * 10000.0f) - (int)(sched_load * 100.0f) * 100), (int)(idle * 100), (int)((idle * 10000.0f) - ((int)(idle * 100)) * 100)); |
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printf("\033[KUptime: %u.%03u s total, %d.%03d s idle\n\033[K\n", curr_time_s, (unsigned int)(curr_time_ms - curr_time_s * 1000LLU), idle_time_total_s, (int)(idle_time_total_ms - idle_time_total_s * 1000)); |
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/* 34 chars command name length (32 chars plus two spaces) */ |
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char header_spaces[CONFIG_TASK_NAME_SIZE + 1]; |
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memset(header_spaces, ' ', CONFIG_TASK_NAME_SIZE); |
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header_spaces[CONFIG_TASK_NAME_SIZE] = '\0'; |
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#if CONFIG_RR_INTERVAL > 0 |
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printf("\033[KPID\tCOMMAND%s CPU TOTAL \t%%CPU CURR \tSTACK USE\tCURR (BASE) PRIO\tRR SLICE\n", header_spaces); |
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#else |
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printf("\033[KPID\tCOMMAND%s CPU TOTAL \t%%CPU CURR \tSTACK USE\tCURR (BASE) PRIO\n", header_spaces); |
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#endif |
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} else { |
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enum tstate_e task_state = (enum tstate_e)system_load.tasks[i].tcb->task_state; |
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if (task_state == TSTATE_TASK_PENDING || |
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task_state == TSTATE_TASK_READYTORUN || |
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task_state == TSTATE_TASK_RUNNING) { |
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running_count++; |
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} |
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if (task_state == TSTATE_TASK_INACTIVE || /* BLOCKED - Initialized but not yet activated */ |
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task_state == TSTATE_WAIT_SEM /* BLOCKED - Waiting for a semaphore */ |
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#ifndef CONFIG_DISABLE_SIGNALS |
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|| task_state == TSTATE_WAIT_SIG /* BLOCKED - Waiting for a signal */ |
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#endif |
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#ifndef CONFIG_DISABLE_MQUEUE |
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|| task_state == TSTATE_WAIT_MQNOTEMPTY /* BLOCKED - Waiting for a MQ to become not empty. */ |
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|| task_state == TSTATE_WAIT_MQNOTFULL /* BLOCKED - Waiting for a MQ to become not full. */ |
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#endif |
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#ifdef CONFIG_PAGING |
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|| task_state == TSTATE_WAIT_PAGEFILL /* BLOCKED - Waiting for page fill */ |
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#endif |
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) { |
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blocked_count++; |
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} |
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char spaces[CONFIG_TASK_NAME_SIZE + 2]; |
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/* count name len */ |
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int namelen = 0; |
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while (namelen < CONFIG_TASK_NAME_SIZE) { |
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if (system_load.tasks[i].tcb->name[namelen] == '\0') break; |
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namelen++; |
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} |
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int s = 0; |
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for (s = 0; s < CONFIG_TASK_NAME_SIZE + 2 - namelen; s++) { |
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spaces[s] = ' '; |
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} |
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spaces[s] = '\0'; |
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char *runtime_spaces = " "; |
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if ((system_load.tasks[i].total_runtime / 1000) < 99) { |
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runtime_spaces = ""; |
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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("\033[K % 2d\t%s%s % 8lld ms%s \t % 2d.%03d \t % 4u / % 4u", |
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(int)system_load.tasks[i].tcb->pid, |
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system_load.tasks[i].tcb->name, |
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spaces, |
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(system_load.tasks[i].total_runtime / 1000), |
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runtime_spaces, |
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(int)(curr_loads[i] * 100), |
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(int)(curr_loads[i] * 100000.0f - (int)(curr_loads[i] * 1000.0f) * 100), |
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stack_size - stack_free, |
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stack_size); |
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/* Print scheduling info with RR time slice */ |
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#if CONFIG_RR_INTERVAL > 0 |
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printf("\t%d\t(%d)\t\t%d\n", (int)system_load.tasks[i].tcb->sched_priority, (int)system_load.tasks[i].tcb->base_priority, (int)system_load.tasks[i].tcb->timeslice); |
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#else |
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/* Print scheduling info without time slice*/ |
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printf("\t%d (%d)\n", (int)system_load.tasks[i].tcb->sched_priority, (int)system_load.tasks[i].tcb->base_priority); |
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#endif |
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} |
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} |
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} |
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printf("\033[K[ Hit Ctrl-C to quit. ]\n\033[J"); |
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fflush(stdout); |
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interval_start_time = new_time; |
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char c; |
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/* Sleep 200 ms waiting for user input four times */ |
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/* XXX use poll ... */ |
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for (int k = 0; k < 4; k++) { |
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if (read(console, &c, 1) == 1) { |
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if (c == 0x03 || c == 0x63) { |
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printf("Abort\n"); |
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close(console); |
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return OK; |
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} |
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} |
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usleep(200000); |
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} |
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new_time = hrt_absolute_time(); |
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} |
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close(console); |
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return OK; |
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}
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