Skip to content

Commit

Permalink
Merge pull request #734 from tier4/sync-upstream
Browse files Browse the repository at this point in the history 
chore: sync upstream
  • Loading branch information
@tier4-autoware-public-bot
tier4-autoware-public-bot[bot] authored Aug 17, 2023
2 parents e0bf702 + 6f85580 commit 700f603
Show file tree
Hide file tree
Showing 4 changed files with 50 additions and 114 deletions.
5 changes: 3 additions & 2 deletions control/control_validator/src/control_validator.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -194,10 +194,11 @@ bool ControlValidator::isAllValid(const ControlValidatorStatus & s)
void ControlValidator::displayStatus()
{
if (!display_on_terminal_) return;
rclcpp::Clock clock{RCL_ROS_TIME};

const auto warn = [this](const bool status, const std::string & msg) {
const auto warn = [this, &clock](const bool status, const std::string & msg) {
if (!status) {
RCLCPP_WARN(get_logger(), "%s", msg.c_str());
RCLCPP_WARN_THROTTLE(get_logger(), clock, 1000, "%s", msg.c_str());
}
};

Expand Down
4 changes: 2 additions & 2 deletions perception/traffic_light_arbiter/src/traffic_light_arbiter.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -147,14 +147,14 @@ void TrafficLightArbiter::arbitrateAndPublish(const builtin_interfaces::msg::Tim

const auto get_highest_confidence_elements =
[](const std::vector<ElementAndPriority> & elements_and_priority_vector) {
using Key = std::tuple<Element::_color_type, Element::_shape_type>;
using Key = Element::_shape_type;
std::map<Key, ElementAndPriority> highest_score_element_and_priority_map;
std::vector<Element> highest_score_elements_vector;

for (const auto & elements_and_priority : elements_and_priority_vector) {
const auto & element = elements_and_priority.first;
const auto & element_priority = elements_and_priority.second;
const auto key = std::make_tuple(element.color, element.shape);
const auto key = element.shape;
auto [iter, success] =
highest_score_element_and_priority_map.try_emplace(key, elements_and_priority);
const auto & iter_element = iter->second.first;
Expand Down
129 changes: 35 additions & 94 deletions system/system_monitor/include/system_monitor/process_monitor/diag_task.hpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,25 @@

#include <string>

/**
* @brief Struct for storing process information
*/
struct ProcessInfo
{
std::string processId;
std::string userName;
std::string priority;
std::string niceValue;
std::string virtualImage;
std::string residentSize;
std::string sharedMemSize;
std::string processStatus;
std::string cpuUsage;
std::string memoryUsage;
std::string cpuTime;
std::string commandName;
};

class DiagTask : public diagnostic_updater::DiagnosticTask
{
public:
Expand All @@ -46,18 +65,18 @@ class DiagTask : public diagnostic_updater::DiagnosticTask
if (level_ != DiagStatus::OK) {
stat.add("content", content_);
} else {
stat.add("COMMAND", command_);
stat.add("%CPU", cpu_);
stat.add("%MEM", mem_);
stat.add("PID", pid_);
stat.add("USER", user_);
stat.add("PR", pr_);
stat.add("NI", ni_);
stat.add("VIRT", virt_);
stat.add("RES", res_);
stat.add("SHR", shr_);
stat.add("S", s_);
stat.add("TIME+", time_);
stat.add("COMMAND", info_.commandName);
stat.add("%CPU", info_.cpuUsage);
stat.add("%MEM", info_.memoryUsage);
stat.add("PID", info_.processId);
stat.add("USER", info_.userName);
stat.add("PR", info_.priority);
stat.add("NI", info_.niceValue);
stat.add("VIRT", info_.virtualImage);
stat.add("RES", info_.residentSize);
stat.add("SHR", info_.sharedMemSize);
stat.add("S", info_.processStatus);
stat.add("TIME+", info_.cpuTime);
}
stat.summary(level_, message_);
}
Expand Down Expand Up @@ -85,95 +104,17 @@ class DiagTask : public diagnostic_updater::DiagnosticTask
}

/**
* @brief set process id
* @param [in] pid process id
*/
void setProcessId(const std::string & pid) { pid_ = pid; }

/**
* @brief set user name
* @param [in] user user name
*/
void setUserName(const std::string & user) { user_ = user; }

/**
* @brief set priority
* @param [in] pr priority
*/
void setPriority(const std::string & pr) { pr_ = pr; }

/**
* @brief set nice value
* @param [in] ni nice value
*/
void setNiceValue(const std::string & ni) { ni_ = ni; }

/**
* @brief set virtual image
* @param [in] virt virtual image
*/
void setVirtualImage(const std::string & virt) { virt_ = virt; }

/**
* @brief set resident size
* @param [in] res resident size
* @brief Set process information
* @param [in] info Process information
*/
void setResidentSize(const std::string & res) { res_ = res; }

/**
* @brief set shared mem size
* @param [in] shr shared mem size
*/
void setSharedMemSize(const std::string & shr) { shr_ = shr; }

/**
* @brief set process status
* @param [in] s process status
*/
void setProcessStatus(const std::string & s) { s_ = s; }

/**
* @brief set CPU usage
* @param [in] cpu CPU usage
*/
void setCPUUsage(const std::string & cpu) { cpu_ = cpu; }

/**
* @brief set memory usage
* @param [in] mem memory usage
*/
void setMemoryUsage(const std::string & mem) { mem_ = mem; }

/**
* @brief set CPU time
* @param [in] time CPU time
*/
void setCPUTime(const std::string & time) { time_ = time; }

/**
* @brief set Command name/line
* @param [in] command Command name/line
*/
void setCommandName(const std::string & command) { command_ = command; }
void setProcessInformation(const struct ProcessInfo & info) { info_ = info; }

private:
int level_; //!< @brief Diagnostics error level
std::string message_; //!< @brief Diagnostics status message
std::string error_command_; //!< @brief Error command
std::string content_; //!< @brief Error content

std::string pid_; //!< @brief Process Id
std::string user_; //!< @brief User Name
std::string pr_; //!< @brief Priority
std::string ni_; //!< @brief Nice value
std::string virt_; //!< @brief Virtual Image (kb)
std::string res_; //!< @brief Resident size (kb)
std::string shr_; //!< @brief Shared Mem size (kb)
std::string s_; //!< @brief Process Status
std::string cpu_; //!< @brief CPU usage
std::string mem_; //!< @brief Memory usage
std::string time_; //!< @brief CPU Time
std::string command_; //!< @brief Command name/line
struct ProcessInfo info_; //!< @brief Struct for storing process information
};

#endif // SYSTEM_MONITOR__PROCESS_MONITOR__DIAG_TASK_HPP_
26 changes: 10 additions & 16 deletions system/system_monitor/src/process_monitor/process_monitor.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -451,27 +451,21 @@ void ProcessMonitor::getTopratedProcesses(
return;
}

std::vector<std::string> list;
std::string line;
int index = 0;

while (std::getline(is_out, line) && !line.empty()) {
boost::trim_left(line);
boost::split(list, line, boost::is_space(), boost::token_compress_on);
std::istringstream stream(line);

ProcessInfo info;
stream >> info.processId >> info.userName >> info.priority >> info.niceValue >>
info.virtualImage >> info.residentSize >> info.sharedMemSize >> info.processStatus >>
info.cpuUsage >> info.memoryUsage >> info.cpuTime;

std::getline(stream, info.commandName);

tasks->at(index)->setDiagnosticsStatus(DiagStatus::OK, "OK");
tasks->at(index)->setProcessId(list[0]);
tasks->at(index)->setUserName(list[1]);
tasks->at(index)->setPriority(list[2]);
tasks->at(index)->setNiceValue(list[3]);
tasks->at(index)->setVirtualImage(list[4]);
tasks->at(index)->setResidentSize(list[5]);
tasks->at(index)->setSharedMemSize(list[6]);
tasks->at(index)->setProcessStatus(list[7]);
tasks->at(index)->setCPUUsage(list[8]);
tasks->at(index)->setMemoryUsage(list[9]);
tasks->at(index)->setCPUTime(list[10]);
tasks->at(index)->setCommandName(list[11]);
tasks->at(index)->setProcessInformation(info);
++index;
}
}
Expand Down Expand Up @@ -521,7 +515,7 @@ void ProcessMonitor::onTimer()
std::ostringstream os;

// Get processes
bp::child c("top -bn1 -o %CPU -w 128", bp::std_out > is_out, bp::std_err > is_err);
bp::child c("top -bcn1 -o %CPU -w 256", bp::std_out > is_out, bp::std_err > is_err);
c.wait();

if (c.exit_code() != 0) {
Expand Down

0 comments on commit 700f603

Please sign in to comment.