top.cpp
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/****************************************************************************
*
* Copyright (c) 2012-2016 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.
*
****************************************************************************/
/**
* @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 <px4_platform/cpuload.h>
#include <px4_platform_common/printload.h>
#include <drivers/drv_hrt.h>
#include <px4_platform_common/module.h>
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");
}
extern "C" __EXPORT int top_main(int argc, char *argv[])
{
print_load_s load{};
init_print_load(&load);
px4_usleep(200000);
/* clear screen */
dprintf(1, "\033[2J\n");
if (argc > 1) {
if (!strcmp(argv[1], "once")) {
px4_sleep(1);
print_load(STDOUT_FILENO, &load);
} else {
print_usage();
}
cpuload_monitor_stop();
return 0;
}
for (;;) {
print_load(STDOUT_FILENO, &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) {
cpuload_monitor_stop();
return 1;
}
switch (c) {
case 0x03: // ctrl-c
case 0x1b: // esc
case 'c':
case 'q':
cpuload_monitor_stop();
return 0;
/* not reached */
}
}
px4_usleep(200000);
}
}
cpuload_monitor_stop();
return 0;
}