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/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file top.c
* Tool similar to UNIX top command
* @see http://en.wikipedia.org/wiki/Top_unix
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <fcntl.h>
#include <stdbool.h>
#include <unistd.h>
#include <string.h>
#include <poll.h>
#include <systemlib/cpuload.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";
}
}
int
top_main(void)
{
uint64_t total_user_time = 0;
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;
/* clear screen */
printf("\033[2J");
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;
/* Sleep 200 ms waiting for user input five times ~ 1s */
for (int k = 0; k < 5; k++) {
char c;
struct pollfd fds;
int ret;
fds.fd = 0; /* stdin */
fds.events = POLLIN;
ret = poll(&fds, 1, 0);
if (ret > 0) {
read(0, &c, 1);
switch (c) {
case 0x03: // ctrl-c
case 0x1b: // esc
case 'c':
case 'q':
return OK;
/* not reached */
}
}
usleep(200000);
}
new_time = hrt_absolute_time();
}
return OK;
}
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