feat(autoware_debug_tools): add system_usage_monitor.py

common/autoware_debug_tools/README.md

@@ -21,3 +21,15 @@ This tool visualizes `tier4_debug_msgs/msg/ProcessingTimeTree` messages.
 3. Then, the visualizer will show the processing time tree.
 
    ![visualize-tree](images/visualize-tree.png)
+
+## System Usage Monitor
+
+The purpose of the System Usage Monitor is to monitor, visualize and publish the CPU usage and memory usage of the ROS processes. By providing a real-time terminal-based visualization, users can easily confirm the cpu and memory usage as in the picture below.
+
+![system_usage_monitor](image/system_usage_monitor.png)
+
+You can run the program by the following command.
+
+```bash
+ros2 run autoware_debug_tools system_usage_monitor
+```

common/autoware_debug_tools/autoware_debug_tools/system_usage_monitor.py

@@ -0,0 +1,171 @@
+#!/usr/bin/env python3
+
+# Copyright 2024 TIER IV, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+import signal
+import sys
+import threading
+
+import psutil
+import rclpy
+from rclpy.node import Node
+from tier4_debug_msgs.msg import SystemUsage
+from tier4_debug_msgs.msg import SystemUsageArray
+
+
+def signal_handler(sig, frame):
+    sys.exit(0)
+
+
+def get_system_usage(pid, system_usages, interval):
+    try:
+        proc = psutil.Process(pid)
+        cpu_usage = proc.cpu_percent(interval=interval)
+        memory_usage = proc.memory_info().rss
+        cmdline = proc.cmdline()
+        process_name = " ".join(cmdline)
+        component = (
+            process_name.split("__ns:=/")[1].split("/")[0].split(" ")[0]
+            if "__ns:=/" in process_name
+            else ""
+        )
+        if component == "":
+            component = "others"
+        container = process_name.split("__node:=", 1)[1].split(" ")[0]
+        system_usages[pid] = {
+            "component": component,
+            "container": container,
+            "cpu_usage": cpu_usage,
+            "memory_usage": memory_usage,
+        }
+    except (psutil.NoSuchProcess, psutil.AccessDenied, psutil.ZombieProcess, IndexError):
+        pass
+
+
+def print_system_usage(sorted_system_usages):
+    # clear terminal
+    os.system("clear")
+    if not sorted_system_usages:
+        print("No processes found with the specified name.")
+        return
+
+    print("|" + "-" * 202 + "|")
+    print(
+        "|"
+        + "\033[1m"
+        + "Process Information".center(72, " ")
+        + "\033[0m"
+        + "|"
+        + "\033[1m"
+        + "CPU Usage".center(62, " ")
+        + "\033[0m"
+        + "|"
+        + "\033[1m"
+        + "Memory Usage".center(66, " ")
+        + "\033[0m"
+        + "|"
+    )
+    print("|" + "-" * 202 + "|")
+
+    last_component = None
+    for pid, data in sorted_system_usages:
+        component = data["component"]
+        container = data["container"]
+        cpu_usage = data["cpu_usage"]
+        memory_usage = data["memory_usage"] / 1024**2
+        cpu_bar = "#" * int(cpu_usage * 0.5)
+        memory_bar = "#" * int(memory_usage * 0.06)
+
+        if last_component and last_component != component:
+            print(
+                "|"
+                + "-" * 16
+                + "|"
+                + "-" * 55
+                + "|"
+                + "-" * 9
+                + "|"
+                + "-" * 52
+                + "|"
+                + "-" * 13
+                + "|"
+                + "-" * 52
+                + "|"
+            )
+
+        last_component = component
+        process_info = f"| {component.split('/')[-1].ljust(14)} | {container.ljust(53)} | {cpu_usage:4.1f}[%] | {cpu_bar:<50} | {memory_usage:6.1f}[MiB] | {memory_bar:<50} |"
+        print(process_info)
+
+    print("|" + "-" * 202 + "|")
+
+
+def main(args=None):
+    signal.signal(signal.SIGINT, signal_handler)
+
+    rclpy.init(args=args)
+    node = Node("system_usage_monitor")
+
+    pub_system_usage = node.create_publisher(
+        SystemUsageArray,
+        "~/system_usage",
+        1,
+    )
+
+    system_usages = {}
+    while True:
+        # create thread to calculate cpu usage of each process since it takes time
+        process_name_keyword = "__node:="
+        threads = []
+        for proc in psutil.process_iter(["pid", "name", "cpu_percent", "cmdline"]):
+            try:
+                if process_name_keyword in " ".join(proc.info["cmdline"]):
+                    pid = proc.info["pid"]
+                    thread = threading.Thread(
+                        target=get_system_usage, args=(pid, system_usages, 1.0)
+                    )
+                    threads.append(thread)
+                    thread.start()
+            except (psutil.NoSuchProcess, psutil.AccessDenied, psutil.ZombieProcess):
+                pass
+
+        # wait for all the thread to finish
+        for thread in threads:
+            thread.join()
+
+        # sort in the order of component name
+        sorted_system_usages = sorted(
+            system_usages.items(), key=lambda x: x[1]["component"] + x[1]["container"]
+        )
+
+        # print system usage
+        print_system_usage(sorted_system_usages)
+
+        # publish system usage
+        system_usage_array = SystemUsageArray()
+        system_usage_array.stamp = node.get_clock().now().to_msg()
+        for pid, data in sorted_system_usages:
+            system_usage = SystemUsage()
+            system_usage.pid = pid
+            system_usage.name = data["component"] + "/" + data["container"]
+            system_usage.cpu_usage = data["cpu_usage"]
+            system_usage.memory_usage = float(data["memory_usage"])
+            system_usage_array.system_usage.append(system_usage)
+        pub_system_usage.publish(system_usage_array)
+
+
+if __name__ == "__main__":
+    main()

common/autoware_debug_tools/setup.py

@@ -21,6 +21,7 @@
     entry_points={
         "console_scripts": [
             "processing_time_visualizer = autoware_debug_tools.processing_time_visualizer.node:main",
+            "system_usage_monitor = autoware_debug_tools.system_usage_monitor:main",
         ],
     },
 )

planning/planning_debug_tools/CMakeLists.txt

@@ -51,7 +51,6 @@ install(PROGRAMS
   scripts/processing_time_checker.py
   scripts/trajectory_visualizer.py
   scripts/closest_velocity_checker.py
-  scripts/cpu_usage_checker.py
   scripts/perception_replayer/perception_reproducer.py
   scripts/perception_replayer/perception_replayer.py
   scripts/update_logger_level.sh

planning/planning_debug_tools/README.md

@@ -7,7 +7,6 @@ This package contains several planning-related debug tools.
 - **Perception reproducer**: generates detected objects from rosbag data in planning simulator environment
 - **processing time checker**: displays processing_time of modules on the terminal
 - **logging level updater**: updates the logging level of the planning modules.
-- **CPU Usage Checker**: displays CPU usage of ROS processes on the terminal
 
 ## Trajectory analyzer
 
@@ -293,15 +292,3 @@ ros2 run planning_debug_tools update_logger_level.sh <module-name> <logger-level
 When you have a typo of the planning module, the script will show the available modules.
 
 ![logging_level_updater_typo](image/logging_level_updater_typo.png)
-
-## CPU Usage Checker
-
-The purpose of the CPU Usage Checker is to monitor and visualize the CPU usage of the ROS processes. By providing a real-time terminal-based visualization, users can easily confirm the cpu usage as in the picture below.
-
-![cpu_usage_checker](image/cpu_usage_checker.png)
-
-You can run the program by the following command.
-
-```bash
-ros2 run planning_debug_tools cpu_usage_checker.py
-```