print_load_posix.c

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 * modification, are permitted provided that the following conditions
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/**
 * @file print_load_posix.c
 *
 * Print the current system load.
 *
 * @author Lorenz Meier <lorenz@px4.io>
 */

#include <px4_platform_common/posix.h>

#include <unistd.h>
#include <string.h>
#include <stdio.h>
#include <stdbool.h>

#include <systemlib/cpuload.h>
#include <systemlib/printload.h>
#include <drivers/drv_hrt.h>

#ifdef __PX4_DARWIN
#include <mach/mach.h>
#endif

#ifdef __PX4_QURT
// dprintf is not available on QURT. Use the usual output to mini-dm.
#define dprintf(_fd, _text, ...) ((_fd) == 1 ? PX4_INFO((_text), ##__VA_ARGS__) : (void)(_fd))
#endif

extern struct system_load_s system_load;

#define CL "\033[K" // clear line

void init_print_load_s(uint64_t t, struct print_load_s *s)
{

    s->total_user_time = 0;

    s->running_count = 0;
    s->blocked_count = 0;

    s->new_time = t;
    s->interval_start_time = t;

    for (int i = 0; i < CONFIG_MAX_TASKS; i++) {
        s->last_times[i] = 0;
    }

    s->interval_time_ms_inv = 0.f;
}

void print_load(uint64_t t, int fd, struct print_load_s *print_state)
{
    char *clear_line = "";

    /* print system information */
    if (fd == 1) {
        dprintf(fd, "\033[H"); /* move cursor home and clear screen */
        clear_line = CL;
    }

#if defined(__PX4_LINUX) || defined(__PX4_CYGWIN) || defined(__PX4_QURT)
    dprintf(fd, "%sTOP NOT IMPLEMENTED ON LINUX, QURT, WINDOWS (ONLY ON NUTTX, APPLE)\n", clear_line);

#elif defined(__PX4_DARWIN)
    pid_t pid = getpid();   //-- this is the process id you need info for
    task_t task_handle;
    task_for_pid(mach_task_self(), pid, &task_handle);

    task_info_data_t tinfo;
    mach_msg_type_number_t th_info_cnt;

    th_info_cnt = TASK_INFO_MAX;
    kern_return_t kr = task_info(task_handle, TASK_BASIC_INFO, (task_info_t)tinfo, &th_info_cnt);

    if (kr != KERN_SUCCESS) {
        return;
    }

    thread_array_t thread_list;
    mach_msg_type_number_t th_cnt;

    thread_info_data_t th_info_data;
    mach_msg_type_number_t thread_info_count;

    thread_basic_info_t basic_info_th;
    uint32_t stat_thread = 0;

    // get all threads of the PX4 main task
    kr = task_threads(task_handle, &thread_list, &th_cnt);

    if (kr != KERN_SUCCESS) {
        PX4_WARN("ERROR getting thread list");
        return;
    }

    if (th_cnt > 0) {
        stat_thread += th_cnt;
    }

    long tot_sec = 0;
    long tot_usec = 0;
    long tot_cpu = 0;

    dprintf(fd, "%sThreads: %d total\n",
        clear_line,
        th_cnt);

    for (unsigned j = 0; j < th_cnt; j++) {
        thread_info_count = THREAD_INFO_MAX;
        kr = thread_info(thread_list[j], THREAD_BASIC_INFO,
                 (thread_info_t)th_info_data, &thread_info_count);

        if (kr != KERN_SUCCESS) {
            PX4_WARN("ERROR getting thread info");
            continue;
        }

        basic_info_th = (thread_basic_info_t)th_info_data;

        if (!(basic_info_th->flags & TH_FLAGS_IDLE)) {
            tot_sec = tot_sec + basic_info_th->user_time.seconds + basic_info_th->system_time.seconds;
            tot_usec = tot_usec + basic_info_th->system_time.microseconds + basic_info_th->system_time.microseconds;
            tot_cpu = tot_cpu + basic_info_th->cpu_usage;
        }

        // char tname[128];

        // int ret = pthread_getname_np(pthread_t *thread,
        //                      const char *name, size_t len);

        dprintf(fd, "thread %d\t\t %d\n", j, basic_info_th->cpu_usage);
    }

    kr = vm_deallocate(mach_task_self(), (vm_offset_t)thread_list,
               th_cnt * sizeof(thread_t));

    if (kr != KERN_SUCCESS) {
        PX4_WARN("ERROR cleaning up thread info");
        return;
    }

#endif
}

void print_load_buffer(uint64_t t, char *buffer, int buffer_length, print_load_callback_f cb, void *user,
               struct print_load_s *print_state)
{

}