Merge branch 'GV-3570/resource-monitor-report' into hardik/merge-check-with-system-monitor

Author: HardikSingh97

CMakeLists.txt

@@ -52,14 +52,21 @@ file(GLOB SUPER_MEDIATOR_FILES
 )
 
 add_executable(am_super ${am_super_cpp_files})
+target_link_libraries(am_super)
 ament_target_dependencies(am_super ${dependencies})
 
+add_executable(resource_monitor src/resource_monitor/resource_status_class.cpp
+                                src/resource_monitor/resource_monitor_main.cpp
+                                src/resource_monitor/resource_monitor_node.cpp)
+ament_target_dependencies(resource_monitor ${dependencies})
+
 install(DIRECTORY include/
         DESTINATION include/
 )
 
 install(TARGETS
   am_super
+  resource_monitor
   DESTINATION lib/${PROJECT_NAME}
 )
 

include/resource_monitor/resource_monitor_node.h

@@ -0,0 +1,31 @@
+#ifndef AM_SUPER_INCLUDE_RESOURCE_MONITOR_RESOURCE_MONITOR_NODE_H_
+#define AM_SUPER_INCLUDE_RESOURCE_MONITOR_RESOURCE_MONITOR_NODE_H_
+
+
+#include <resource_monitor/resource_status_class.h>
+
+namespace am
+{
+class ResourceMonitorNode : public AMLifeCycle
+{
+public:
+    ResourceMonitorNode(const std::string &node_name);
+
+    ~ResourceMonitorNode();
+
+    std::shared_ptr<am::ResourceStatus> resource_status_ = nullptr;
+
+    std::shared_ptr<am::ResourceStatus> getAMClass();
+
+    void setAMClass(std::shared_ptr<am::ResourceStatus> am_class);
+    
+    bool configured_ = false;
+
+    // AMLifeCycle overrides
+    void heartbeatCB() override;
+    bool onCleanup() override;
+    bool onConfigure() override;
+};
+}
+
+#endif /*AM_SUPER_INCLUDE_RESOURCE_MONITOR_RESOURCE_MONITOR_NODE_H_*/

include/resource_monitor/resource_monitor_stats.h

@@ -0,0 +1,50 @@
+#ifndef AM_LIDAR_BS_AM_LIDAR_BS_STATS_H_
+#define AM_LIDAR_BS_AM_LIDAR_BS_STATS_H_
+
+#include <super_lib/am_stat_list.h>
+#include <super_lib/am_stat.h>
+#include <super_lib/am_stat_reset.h>
+#include <super_lib/am_stat_ave.h>
+#include <super_lib/am_stat_status.h>
+
+namespace am
+{
+
+class ResourceMonitorStats
+{
+public:
+    AMStatStatus statStatus = AMStatStatus("ss", "AMStatStatus");
+
+
+    AMStat tf_stats = AMStat("tf_s", "Transform Stats", 1, 2, 80, 99);
+    AMStat node_stats = AMStat("n_s", "Nodes Stats", 1, 2, 80, 99);
+    AMStat cpu_stats = AMStat("cpu_s", "CPU Stats", 1, 2, 80, 99);
+    AMStat gpu_stats = AMStat("gpu_s", "GPU Stats", 1, 2, 80, 99);
+    AMStat ram_stats = AMStat("ram_s", "RAM Stats", 1, 2, 80, 99);
+    AMStat drive_stats = AMStat("drive_s", "Drive Stats", 1, 2, 80, 99);
+    AMStat lidar_ip = AMStat("lidar_ip_s", "Lidar IP Stats", 1, 2, 80, 99);
+    AMStat fl_ip = AMStat("fl_s", "FL IP Stats", 1, 2, 80, 99);
+    AMStat fr_ip = AMStat("fr_s", "FR IP Stats", 1, 2, 80, 99);
+    AMStat rl_ip = AMStat("rl_s", "RL IP Stats", 1, 2, 80, 99);
+    AMStat rr_ip = AMStat("rr_s", "RR IP Stats", 1, 2, 80, 99);
+
+    ResourceMonitorStats(AMStatList &stat_list)
+    {
+        stat_list.add(&statStatus);
+        stat_list.add(&tf_stats);
+        stat_list.add(&node_stats);
+        stat_list.add(&gpu_stats);
+        stat_list.add(&cpu_stats);
+        stat_list.add(&ram_stats);
+        stat_list.add(&drive_stats);
+        stat_list.add(&lidar_ip);
+        stat_list.add(&fl_ip);
+        stat_list.add(&fr_ip);
+        stat_list.add(&rl_ip);
+        stat_list.add(&rr_ip);
+    }
+};
+
+}; // namespace
+
+#endif /* AM_LIDAR_BS_AM_LIDAR_BS_STATS_H_ */

include/resource_monitor/resource_status_class.h

@@ -0,0 +1,174 @@
+#ifndef AM_SUPER_INCLUDE_RESOURCE_MONITOR_RESOURCE_STATUS_CLASS_H_
+#define AM_SUPER_INCLUDE_RESOURCE_MONITOR_RESOURCE_STATUS_CLASS_H_
+
+#include <iostream>
+#include <am_utils/am_ros2_utility.h>
+
+#include <iostream>
+#include <fstream>
+#include <sstream>
+#include <string>
+#include <unistd.h>
+#include <vb_util_lib/transformer.h>
+#include <resource_monitor/resource_monitor_stats.h>
+#include <std_msgs/msg/int32.hpp>
+#include <sys/statvfs.h> // For statvfs
+#include <iomanip>       // For std::setprecision
+#include <brain_box_msgs/msg/system_report.hpp>
+#include <vb_util_lib/bag_logger.h>
+#include <vb_util_lib/vb_main.h>
+#include <brain_box_msgs/msg/log_control.hpp>
+
+namespace am
+{
+
+struct MemoryInfo 
+{
+    unsigned long total;
+    unsigned long free;
+    unsigned long used;
+    unsigned long available;
+    int used_percent;
+};
+
+struct GpuInfo
+{
+    std::string gpu_name;
+    int temp;
+    int load_percent;
+};
+
+struct CpuInfo 
+{
+    unsigned long long user;
+    unsigned long long nice;
+    unsigned long long system;
+    unsigned long long idle;
+    unsigned long long iowait;
+    unsigned long long irq;
+    unsigned long long softirq;
+    unsigned long long steal;
+    unsigned long long total;
+};
+
+struct DiskInfo {
+    unsigned long long totalSpace;  // Total space in bytes
+    unsigned long long availableSpace; // Available space in bytes (matches `df`)
+    unsigned long long usedSpace;   // Used space in bytes
+    double percentUsed;             // Percentage used
+};
+
+class ResourceStatus
+{
+public:
+    ResourceStatus(std::shared_ptr<am::ResourceMonitorStats> stats);
+
+    ~ResourceStatus();
+
+    am::MemoryInfo& getMemoryInfo();
+
+    am::CpuInfo getCPUInfo();
+
+    am::GpuInfo getGPUInfo();
+
+    void getCPUInfo(std::vector<am::CpuInfo> &infos);
+
+    DiskInfo getDiskInfo(const std::string& path = "/");
+
+    double calculateCpuLoad(const am::CpuInfo &ci, const am::CpuInfo &ci_old);
+
+    double getUpTime();
+
+    void updateInfos(brain_box_msgs::msg::SystemReport &sys_report);
+
+    void print();
+
+    bool isReachable(const std::string &ipAddress);
+
+    void getParams();
+
+    std::unordered_set<std::string> getActiveIPs(const std::string& subnet = "192.168.1.0/24");
+
+    std::shared_ptr<am::ResourceMonitorStats> getStats();
+
+    std::vector<std::string> getInetAddresses();
+
+     // AMLifeCycle passthrus
+    bool onConfigure();
+
+    bool onCleanup();
+    
+    void heartbeatCB();
+
+private:
+    
+    std::shared_ptr<am::ResourceMonitorStats> stats_;
+
+    rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr status_sub_;
+
+    rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr stat_sub_;
+
+    rclcpp::Subscription<brain_box_msgs::msg::LogControl>::SharedPtr log_ctrl_sub_;
+
+    rclcpp::Publisher<brain_box_msgs::msg::SystemReport>::SharedPtr sys_rep_pub_;
+
+    void statusCB(const std_msgs::msg::Int32::SharedPtr msg);
+    
+    void statCB(const std_msgs::msg::Int32::SharedPtr msg);
+
+    void logCtrlCB(const brain_box_msgs::msg::LogControl::SharedPtr msg);
+
+    int getCPUCoresCount();
+
+    std::string readFile(const std::string& path);
+
+    am::CpuInfo parseCpuLine(const std::string &line);
+
+    int cpu_cnt_= -1;
+
+    double cpu_usage_;
+
+    double uptime_seconds_;
+
+    bool ip_check_ {false};
+
+    bool is_first_time_ {true};
+
+    BagLogger::BagLoggerLevel  level_;
+
+    bool enabled_ {false};
+
+    std::vector<double> cpu_loads_;
+
+    std::string system_status_topic_ = "/resource_status";
+
+    am::MemoryInfo mi;
+
+    std::vector<am::CpuInfo> cpu_infos_;
+
+    std::vector<am::CpuInfo> cpu_infos_old_;
+
+    am::GpuInfo gpu_info_;
+
+    std::vector<std::string> sub_nets_add_;
+
+    std::map<std::string, std::string> ip_addresses_; //IPAddress, Name
+
+    /*ROS Infrastructure Checking tools*/
+    std::shared_ptr<am::Transformer> transformer_;
+
+    std::vector<std::pair<std::string, std::string>> transform_list_;
+    
+    rclcpp::TimerBase::SharedPtr timer_;
+    
+    void timerCB();
+
+    void checkNodeNames(brain_box_msgs::msg::SystemReport &sys_report);
+
+    void checkTransforms(brain_box_msgs::msg::SystemReport &sys_report);
+
+    void checkSensorIPs(brain_box_msgs::msg::SystemReport &sys_report);
+};
+}
+
+#endif /*AM_SUPER_INCLUDE_RESOURCE_MONITOR_RESOURCE_STATUS_CLASS_H_*/

src/am_super/am_super.cpp

@@ -212,6 +212,7 @@ class AMSuper
   rclcpp::Subscription<diagnostic_msgs::msg::DiagnosticArray>::SharedPtr diagnostics_sub;
   rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr current_enu_sub;
 
+
   rclcpp::Subscription<brain_box_msgs::msg::LogControl>::SharedPtr log_control_sub_;
   BagLogger::BagLoggerLevel log_level_;
 
@@ -374,6 +375,8 @@ class AMSuper
     current_enu_sub = am::Node::node->create_subscription<nav_msgs::msg::Odometry>(am_topics::CTRL_VX_VEHICLE_CURRENTENU, am::getSensorQoS(1),
     		std::bind(&AMSuper::currentENUCB, this, std::placeholders::_1));
 
+
+
    }
 
   ~AMSuper()
@@ -385,6 +388,8 @@ class AMSuper
   }
 
 private:
+
+
   /**
    * process LifeCycleState messages from nodes
    *

src/resource_monitor/resource_monitor_main.cpp

@@ -0,0 +1,28 @@
+#include <am_utils/am_ros2_utility.h>
+
+#include <resource_monitor/resource_monitor_stats.h>
+#include <resource_monitor/resource_monitor_node.h>
+
+std::shared_ptr<am::AMLifeCycle> am::Node::node = nullptr;
+
+int main(int argc, char** argv)
+{
+    rclcpp::init(argc, argv);
+
+    // create the AMLifeCycle object with stats and assign it to the AMNode singleton
+    std::shared_ptr<am::ResourceMonitorNode> am_node = std::make_shared<am::ResourceMonitorNode>("resource_monitor");
+    std::shared_ptr<am::ResourceMonitorStats> stats = std::make_shared<am::ResourceMonitorStats>(am_node->stats_list_);    
+    am::Node::node = am_node;
+
+    // create the buisness logic object and give the AMLifecycle class a pointer to it
+    std::shared_ptr<am::ResourceStatus> am_class = std::make_shared<am::ResourceStatus>(stats);
+    am_node->setAMClass(am_class);
+
+    ROS_INFO_STREAM(am::Node::node->get_name() << ": running...");
+
+    rclcpp::spin(am::Node::node);
+
+    rclcpp::shutdown();
+
+    return 0;
+}