top.c

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/**
 * @file top.c
 * Tool similar to UNIX top command
 * @see http://en.wikipedia.org/wiki/Top_unix
 *
 * @author Lorenz Meier <lorenz@px4.io>
 */

#include <px4_platform_common/px4_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 <systemlib/printload.h>
#include <drivers/drv_hrt.h>
#include <px4_platform_common/module.h>

/**
 * Start the top application.
 */
__EXPORT int top_main(int argc, char *argv[]);


static void print_usage(void)
{
    PRINT_MODULE_DESCRIPTION("Monitor running processes and their CPU, stack usage, priority and state");

    PRINT_MODULE_USAGE_NAME_SIMPLE("top", "command");
    PRINT_MODULE_USAGE_COMMAND_DESCR("once", "print load only once");
}

int
top_main(int argc, char *argv[])
{
    hrt_abstime curr_time = hrt_absolute_time();

    struct print_load_s load;
    init_print_load_s(curr_time, &load);

    /* clear screen */
    dprintf(1, "\033[2J\n");

    if (argc > 1) {
        if (!strcmp(argv[1], "once")) {
            print_load(curr_time, 1, &load);
            px4_sleep(1);
            print_load(hrt_absolute_time(), 1, &load);

        } else {
            print_usage();
        }

        return 0;
    }

    for (;;) {
        print_load(curr_time, 1, &load);

        /* Sleep 200 ms waiting for user input five times ~ 1s */
        for (int k = 0; k < 5; k++) {
            char c;

            struct pollfd fds;
            int ret;
            fds.fd = 0; /* stdin */
            fds.events = POLLIN;
            ret = poll(&fds, 1, 0);

            if (ret > 0) {

                ret = read(0, &c, 1);

                if (ret) {
                    return 1;
                }

                switch (c) {
                case 0x03: // ctrl-c
                case 0x1b: // esc
                case 'c':
                case 'q':
                    return 0;
                    /* not reached */
                }
            }

            px4_usleep(200000);
        }

        curr_time = hrt_absolute_time();
    }

    return 0;
}