feature(rtos): Add Tasks status print function

Author: me-no-dev

cores/esp32/Arduino.h

@@ -199,6 +199,7 @@ void shiftOut(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder, uint8_t val);
 #include "Udp.h"
 #include "HardwareSerial.h"
 #include "Esp.h"
+#include "freertos_stats.h"
 
 // Use float-compatible stl abs() and round(), we don't use Arduino macros to avoid issues with the C++ libraries
 using std::abs;

cores/esp32/freertos_stats.cpp

@@ -0,0 +1,101 @@
+#include "freertos_stats.h"
+#include "sdkconfig.h"
+//#undef CONFIG_FREERTOS_VTASKLIST_INCLUDE_COREID
+//#undef CONFIG_FREERTOS_GENERATE_RUN_TIME_STATS
+
+#if CONFIG_FREERTOS_USE_TRACE_FACILITY
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/portable.h"
+#endif /* CONFIG_FREERTOS_USE_TRACE_FACILITY */
+
+void printRunningTasks(Print & printer) {
+#if CONFIG_FREERTOS_USE_TRACE_FACILITY
+#if CONFIG_FREERTOS_GENERATE_RUN_TIME_STATS
+#define FREERTOS_TASK_NUMBER_MAX_NUM 256
+  static UBaseType_t ulRunTimeCounters[FREERTOS_TASK_NUMBER_MAX_NUM];
+  static configRUN_TIME_COUNTER_TYPE ulLastRunTime = 0;
+#endif
+  TaskStatus_t *pxTaskStatusArray = NULL;
+  volatile UBaseType_t uxArraySize = 0, x = 0;
+  configRUN_TIME_COUNTER_TYPE ulTotalRunTime = 0, uiCurrentRunTime = 0, uiTaskRunTime = 0;
+  const char * taskStates[] = {
+    "Running",
+    "Ready",
+    "Blocked",
+    "Suspended",
+    "Deleted",
+    "Invalid"
+  };
+
+  // Take a snapshot of the number of tasks in case it changes while this function is executing.
+  uxArraySize = uxTaskGetNumberOfTasks();
+  //printer.printf("Running tasks: %u\n", uxArraySize);
+
+  // Allocate a TaskStatus_t structure for each task.
+  pxTaskStatusArray = (TaskStatus_t*)pvPortMalloc( uxArraySize * sizeof( TaskStatus_t ) );
+
+  if( pxTaskStatusArray != NULL ) {
+    // Generate raw status information about each task.
+    uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalRunTime );
+#if CONFIG_FREERTOS_GENERATE_RUN_TIME_STATS
+    uiCurrentRunTime = ulTotalRunTime - ulLastRunTime;
+    ulLastRunTime = ulTotalRunTime;
+#endif
+    printer.printf("Tasks: %u"
+#if CONFIG_FREERTOS_GENERATE_RUN_TIME_STATS
+      ", Runtime: %us, Period: %uus"
+#endif
+      "\n", uxArraySize
+#if CONFIG_FREERTOS_GENERATE_RUN_TIME_STATS
+      , ulTotalRunTime / 1000000, uiCurrentRunTime
+#endif
+    );
+    printer.printf("Num\t            Name"
+#if CONFIG_FREERTOS_GENERATE_RUN_TIME_STATS
+      "\t     Load"
+#endif
+      "\tPrio\t Free"
+#if CONFIG_FREERTOS_VTASKLIST_INCLUDE_COREID
+      "\tCore"
+#endif
+      "\tState\r\n");
+    for( x = 0; x < uxArraySize; x++ ) {
+#if CONFIG_FREERTOS_GENERATE_RUN_TIME_STATS
+      if (pxTaskStatusArray[ x ].xTaskNumber < FREERTOS_TASK_NUMBER_MAX_NUM) {
+        uiTaskRunTime = (pxTaskStatusArray[ x ].ulRunTimeCounter - ulRunTimeCounters[pxTaskStatusArray[ x ].xTaskNumber]);
+        ulRunTimeCounters[pxTaskStatusArray[ x ].xTaskNumber] = pxTaskStatusArray[ x ].ulRunTimeCounter;
+        uiTaskRunTime = (uiTaskRunTime * 100) / uiCurrentRunTime; // in percentage
+      } else {
+        uiTaskRunTime = 0;
+      }
+#endif
+      printer.printf("%3u\t%16s"
+#if CONFIG_FREERTOS_GENERATE_RUN_TIME_STATS
+      "\t%8lu%%"
+#endif
+      "\t%4u\t%5lu"
+#if CONFIG_FREERTOS_VTASKLIST_INCLUDE_COREID
+      "\t%4c"
+#endif
+      "\t%s\r\n",
+        pxTaskStatusArray[ x ].xTaskNumber,
+        pxTaskStatusArray[ x ].pcTaskName,
+#if CONFIG_FREERTOS_GENERATE_RUN_TIME_STATS
+        uiTaskRunTime,
+#endif
+        pxTaskStatusArray[ x ].uxCurrentPriority,
+        pxTaskStatusArray[ x ].usStackHighWaterMark,
+#if CONFIG_FREERTOS_VTASKLIST_INCLUDE_COREID
+        (pxTaskStatusArray[ x ].xCoreID == tskNO_AFFINITY)?'*':('0'+pxTaskStatusArray[ x ].xCoreID),
+#endif
+        taskStates[pxTaskStatusArray[ x ].eCurrentState]
+      );
+    }
+
+    // The array is no longer needed, free the memory it consumes.
+    vPortFree( pxTaskStatusArray );
+    printer.println();
+  }
+#endif /* CONFIG_FREERTOS_USE_TRACE_FACILITY */
+}

cores/esp32/freertos_stats.h

@@ -0,0 +1,4 @@
+#pragma once
+#include "Print.h"
+
+void printRunningTasks(Print & printer);