print_load_nuttx.c

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 * 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.
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 *    notice, this list of conditions and the following disclaimer in
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 *    used to endorse or promote products derived from this software
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/**
 * @file printload.c
 *
 * Print the current system load.
 *
 * @author Lorenz Meier <lorenz@px4.io>
 */

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

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

#if defined(BOARD_DMA_ALLOC_POOL_SIZE)
#include <px4_platform/board_dma_alloc.h>
#endif /* BOARD_DMA_ALLOC_POOL_SIZE */

#if defined(CONFIG_SCHED_INSTRUMENTATION)

#if !defined(CONFIG_TASK_NAME_SIZE)
#error print_load_nuttx requires CONFIG_TASK_NAME_SIZE
#endif

#if !defined(CONFIG_STACK_COLORATION)
#error print_load_nuttx requires CONFIG_STACK_COLORATION
#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;
}

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";
    }
}

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)
{
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wformat" // NuttX uses a different printf format
#pragma GCC diagnostic ignored "-Wformat-extra-args"
    print_state->new_time = t;

    int   i;
    uint64_t curr_time_us;
    uint64_t idle_time_us;
    float idle_load = 0.f;

    curr_time_us = t;
    idle_time_us = system_load.tasks[0].total_runtime;

    if (print_state->new_time > print_state->interval_start_time) {
        print_state->interval_time_ms_inv = 1.f / ((float)((print_state->new_time - print_state->interval_start_time) / 1000));

        /* header for task list */
        snprintf(buffer, buffer_length, "%4s %-*s %8s %6s %11s %10s %-5s %2s",
             "PID",
             CONFIG_TASK_NAME_SIZE, "COMMAND",
             "CPU(ms)",
             "CPU(%)",
             "USED/STACK",
             "PRIO(BASE)",
#if CONFIG_RR_INTERVAL > 0
             "TSLICE",
#else
             "STATE",
#endif
             "FD"
            );
        cb(user);

    }

    print_state->running_count = 0;
    print_state->blocked_count = 0;
    print_state->total_user_time = 0;

    // create a copy of the runtimes because this could be updated during the print output
    uint32_t total_runtime[CONFIG_MAX_TASKS];

    for (i = 0; i < CONFIG_MAX_TASKS; i++) {
        total_runtime[i] = (uint32_t)(system_load.tasks[i].total_runtime / 1000);
    }

    for (i = 0; i < CONFIG_MAX_TASKS; i++) {

        sched_lock(); // need to lock the tcb access (but make it as short as possible)

        if (!system_load.tasks[i].valid) {
            sched_unlock();
            continue;
        }

        uint64_t interval_runtime;
        unsigned tcb_pid = system_load.tasks[i].tcb->pid;
        size_t stack_size = system_load.tasks[i].tcb->adj_stack_size;
        ssize_t stack_free = 0;
        char tcb_name[CONFIG_TASK_NAME_SIZE + 1];
        strncpy(tcb_name, system_load.tasks[i].tcb->name, CONFIG_TASK_NAME_SIZE + 1);

#if CONFIG_ARCH_INTERRUPTSTACK > 3

        if (system_load.tasks[i].tcb->pid == 0) {
            stack_size = (CONFIG_ARCH_INTERRUPTSTACK & ~3);
            stack_free = up_check_intstack_remain();

        } else {
            stack_free = up_check_tcbstack_remain(system_load.tasks[i].tcb);
        }

#else
        stack_free = up_check_tcbstack_remain(system_load.tasks[i].tcb);
#endif

#if CONFIG_ARCH_BOARD_SIM || !defined(CONFIG_PRIORITY_INHERITANCE)
#else
        unsigned tcb_base_priority = system_load.tasks[i].tcb->base_priority;
#endif
#if CONFIG_RR_INTERVAL > 0
        unsigned tcb_timeslice = system_load.tasks[i].tcb->timeslice;
#endif
        unsigned tcb_task_state = system_load.tasks[i].tcb->task_state;
        unsigned tcb_sched_priority = system_load.tasks[i].tcb->sched_priority;

        unsigned int tcb_num_used_fds = 0; // number of used file descriptors
#if CONFIG_NFILE_DESCRIPTORS > 0
        FAR struct task_group_s *group = system_load.tasks[i].tcb->group;

        if (group) {
            for (int fd_index = 0; fd_index < CONFIG_NFILE_DESCRIPTORS; ++fd_index) {
                if (group->tg_filelist.fl_files[fd_index].f_inode) {
                    ++tcb_num_used_fds;
                }
            }
        }

#endif

        sched_unlock();

        switch (tcb_task_state) {
        case TSTATE_TASK_PENDING:
        case TSTATE_TASK_READYTORUN:
        case TSTATE_TASK_RUNNING:
            print_state->running_count++;
            break;

#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
        case TSTATE_TASK_INVALID:
        case TSTATE_TASK_INACTIVE:
        case TSTATE_WAIT_SEM:
            print_state->blocked_count++;
            break;
        }

        interval_runtime = (print_state->last_times[i] > 0 && total_runtime[i] > print_state->last_times[i])
                   ? (total_runtime[i] - print_state->last_times[i]) : 0;

        print_state->last_times[i] = total_runtime[i];

        float current_load = 0.f;

        if (print_state->new_time > print_state->interval_start_time) {
            current_load = interval_runtime * print_state->interval_time_ms_inv;

            if (tcb_pid != 0) {
                print_state->total_user_time += interval_runtime;

            } else {
                idle_load = current_load;
            }

        }


        if (print_state->new_time <= print_state->interval_start_time) {
            continue; // not enough data yet
        }

        // print output
        int print_len = snprintf(buffer, buffer_length, "%4d %-*s %8d %2d.%03d %5u/%5u %3u (%3u) ",
                     tcb_pid,
                     CONFIG_TASK_NAME_SIZE, tcb_name,
                     total_runtime[i],
                     (int)(current_load * 100.0f),
                     (int)((current_load * 100.0f - (int)(current_load * 100.0f)) * 1000),
                     stack_size - stack_free,
                     stack_size,
                     tcb_sched_priority,
#if CONFIG_ARCH_BOARD_SIM || !defined(CONFIG_PRIORITY_INHERITANCE)
                     0);
#else
                     tcb_base_priority);
#endif
#if CONFIG_RR_INTERVAL > 0
        /* print scheduling info with RR time slice */
        snprintf(buffer + print_len, buffer_length - print_len, " %5d %2d", tcb_timeslice, tcb_num_used_fds);
        (void)tstate_name(TSTATE_TASK_INVALID); // Stop not used warning
#else
        // print task state instead
        snprintf(buffer + print_len, buffer_length - print_len, " %-5s %2d", tstate_name(tcb_task_state), tcb_num_used_fds);
#endif
        cb(user);
    }

    if (print_state->new_time <= print_state->interval_start_time) {
        // first run, not enough data yet
        return;
    }

    // Print footer
    buffer[0] = 0;
    cb(user);
    float task_load;
    float sched_load;

    task_load = (float)(print_state->total_user_time) * print_state->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_load)) {
        task_load = (1.f - idle_load);
    }

    sched_load = 1.f - idle_load - task_load;

    snprintf(buffer, buffer_length, "Processes: %d total, %d running, %d sleeping, max FDs: %d",
         system_load.total_count,
         print_state->running_count,
         print_state->blocked_count,
         CONFIG_NFILE_DESCRIPTORS);
    cb(user);
    snprintf(buffer, buffer_length, "CPU usage: %.2f%% tasks, %.2f%% sched, %.2f%% idle",
         (double)(task_load * 100.f),
         (double)(sched_load * 100.f),
         (double)(idle_load * 100.f));
    cb(user);
#if defined(BOARD_DMA_ALLOC_POOL_SIZE)
    uint16_t dma_total;
    uint16_t dma_used;
    uint16_t dma_peak_used;

    if (board_get_dma_usage(&dma_total, &dma_used, &dma_peak_used) >= 0) {
        snprintf(buffer, buffer_length, "DMA Memory: %d total, %d used %d peak",
             dma_total,
             dma_used,
             dma_peak_used);
        cb(user);
    }

#endif
    snprintf(buffer, buffer_length, "Uptime: %.3fs total, %.3fs idle",
         (double)curr_time_us / 1000000.d,
         (double)idle_time_us / 1000000.d);
    cb(user);

    print_state->interval_start_time = print_state->new_time;

#pragma GCC diagnostic pop
}


struct print_load_callback_data_s {
    int fd;
    char buffer[140];
};

static void print_load_callback(void *user)
{
    char *clear_line = "";
    struct print_load_callback_data_s *data = (struct print_load_callback_data_s *)user;

    if (data->fd == 1) {
        clear_line = CL;
    }

    dprintf(data->fd, "%s%s\n", clear_line, data->buffer);
}

void print_load(uint64_t t, int fd, struct print_load_s *print_state)
{
    /* print system information */
    if (fd == 1) {
        dprintf(fd, "\033[H"); /* move cursor home and clear screen */
    }

    struct print_load_callback_data_s data;

    data.fd = fd;

    print_load_buffer(t, data.buffer, sizeof(data.buffer), print_load_callback, &data, print_state);
}

#endif // if CONFIG_SCHED_INSTRUMENTATION