diff options
Diffstat (limited to 'src/systemcmds/top')
-rw-r--r-- | src/systemcmds/top/top.c | 255 |
1 files changed, 142 insertions, 113 deletions
diff --git a/src/systemcmds/top/top.c b/src/systemcmds/top/top.c index efe62685c..0d064a05e 100644 --- a/src/systemcmds/top/top.c +++ b/src/systemcmds/top/top.c @@ -51,19 +51,46 @@ #include <systemlib/cpuload.h> #include <drivers/drv_hrt.h> +#define CL "\033[K" // clear line + /** * Start the top application. */ -__EXPORT int top_main(int argc, char *argv[]); +__EXPORT int top_main(void); extern struct system_load_s system_load; -bool top_sigusr1_rcvd = false; - -int top_main(int argc, char *argv[]) +static const char * +tstate_name(const tstate_t s) { - int t; + 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; @@ -75,7 +102,7 @@ int top_main(int argc, char *argv[]) uint64_t last_times[CONFIG_MAX_TASKS]; float curr_loads[CONFIG_MAX_TASKS]; - for (t = 0; t < CONFIG_MAX_TASKS; t++) + for (int t = 0; t < CONFIG_MAX_TASKS; t++) last_times[t] = 0; float interval_time_ms_inv = 0.f; @@ -83,16 +110,16 @@ int top_main(int argc, char *argv[]) /* 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; + /* clear screen */ + printf("\033[2J"); - uint64_t curr_time_ms = (hrt_absolute_time() / 1000LLU); - unsigned int curr_time_s = curr_time_ms / 1000LLU; + for (;;) { + int i; + uint64_t curr_time_us; + uint64_t idle_time_us; - uint64_t idle_time_total_ms = (system_load.tasks[0].total_runtime / 1000LLU); - unsigned int idle_time_total_s = idle_time_total_ms / 1000LLU; + 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)); @@ -102,7 +129,38 @@ int top_main(int argc, char *argv[]) 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; + 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; @@ -111,7 +169,6 @@ int top_main(int argc, char *argv[]) if (i > 0) total_user_time += interval_runtime; - } else curr_loads[i] = 0; } @@ -119,127 +176,99 @@ int top_main(int argc, char *argv[]) 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; + float idle; + float task_load; + float sched_load; - 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 */ + idle = curr_loads[0]; + task_load = (float)(total_user_time) * interval_time_ms_inv; - float sched_load = 1.f - idle - task_load; + /* 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"); /* 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'; + 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 - printf("\033[KPID\tCOMMAND%s CPU TOTAL \t%%CPU CURR \tSTACK USE\tCURR (BASE) PRIO\tRR SLICE\n", header_spaces); + "TSLICE" #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 */ + "STATE" #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; - 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; - while (stack_free < stack_size) { - if (*stack_sweeper++ != 0xff) - break; + stack_free++; + } - 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), + (int)(curr_loads[i] * 100000.0f - (int)(curr_loads[i] * 1000.0f) * 100), + stack_size - stack_free, + stack_size, + system_load.tasks[i].tcb->sched_priority, + system_load.tasks[i].tcb->base_priority); - 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); + /* print scheduling info with RR time slice */ + printf(" %6d\n", 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); + // print task state instead + printf(" %-6s\n", tstate_name(system_load.tasks[i].tcb->task_state)); #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 */ + /* Sleep 200 ms waiting for user input five times ~ 1s */ /* XXX use poll ... */ - for (int k = 0; k < 4; k++) { + for (int k = 0; k < 5; k++) { + char c; + if (read(console, &c, 1) == 1) { - if (c == 0x03 || c == 0x63) { - printf("Abort\n"); + switch (c) { + case 0x03: // ctrl-c + case 0x1b: // esc + case 'c': + case 'q': close(console); return OK; + /* not reached */ } } |