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