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-rw-r--r--src/systemcmds/top/module.mk44
-rw-r--r--src/systemcmds/top/top.c284
2 files changed, 328 insertions, 0 deletions
diff --git a/src/systemcmds/top/module.mk b/src/systemcmds/top/module.mk
new file mode 100644
index 000000000..9239aafc3
--- /dev/null
+++ b/src/systemcmds/top/module.mk
@@ -0,0 +1,44 @@
+############################################################################
+#
+# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# 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.
+#
+############################################################################
+
+#
+# Build top memory / cpu status tool.
+#
+
+MODULE_COMMAND = top
+SRCS = top.c
+
+MODULE_STACKSIZE = 3000
+
+MAXOPTIMIZATION = -Os
+
diff --git a/src/systemcmds/top/top.c b/src/systemcmds/top/top.c
new file mode 100644
index 000000000..0d064a05e
--- /dev/null
+++ b/src/systemcmds/top/top.c
@@ -0,0 +1,284 @@
+/****************************************************************************
+ *
+ * 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;
+
+ /* Open console directly to grab CTRL-C signal */
+ int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY);
+
+ /* 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),
+ (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);
+
+#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 */
+ /* XXX use poll ... */
+ for (int k = 0; k < 5; k++) {
+ char c;
+
+ if (read(console, &c, 1) == 1) {
+ switch (c) {
+ case 0x03: // ctrl-c
+ case 0x1b: // esc
+ case 'c':
+ case 'q':
+ close(console);
+ return OK;
+ /* not reached */
+ }
+ }
+
+ usleep(200000);
+ }
+
+ new_time = hrt_absolute_time();
+ }
+
+ close(console);
+
+ return OK;
+}
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