diff --git a/sr_system_health/CMakeLists.txt b/sr_system_health/CMakeLists.txt new file mode 100644 index 0000000..bbc93f8 --- /dev/null +++ b/sr_system_health/CMakeLists.txt @@ -0,0 +1,207 @@ +cmake_minimum_required(VERSION 3.0.2) +project(sr_system_health) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS +rospy +message_generation +std_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +add_message_files( + FILES + SystemHealth.msg +) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +generate_messages( + DEPENDENCIES + std_msgs +) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include + LIBRARIES sr_system_health + CATKIN_DEPENDS + std_msgs + message_runtime +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/sr_system_health.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/sr_system_health_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +install(PROGRAMS + src/sr_system_health/system_health.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_sr_system_health.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/sr_system_health/README.md b/sr_system_health/README.md new file mode 100644 index 0000000..fae4ade --- /dev/null +++ b/sr_system_health/README.md @@ -0,0 +1,12 @@ +# sr_system_health + +This package contains a node to monitor important variables of the system such as: +* Overall CPU usage +* Usage of every CPU +* CPU frequency +* Frequency of every CPU +* Temperature of every core +* RAM usage +* Disk usage (partition) + +The sampling period is defined by the sampling_period ros paramter diff --git a/sr_system_health/msg/SystemHealth.msg b/sr_system_health/msg/SystemHealth.msg new file mode 100644 index 0000000..3281025 --- /dev/null +++ b/sr_system_health/msg/SystemHealth.msg @@ -0,0 +1,9 @@ +time stamp + +float64 cpu_usage +float64[] percpu_usage +float64 cpu_frequency +float64[] percpu_frequency +float64[] percore_temp +float64 ram_usage +float64 disk_usage diff --git a/sr_system_health/package.xml b/sr_system_health/package.xml new file mode 100644 index 0000000..21f7c54 --- /dev/null +++ b/sr_system_health/package.xml @@ -0,0 +1,22 @@ + + + sr_system_health + 0.0.1 + The sr_system_health package + Shadow Robot's software team + Jesus Ferrandiz + LGPLv3 + https://github.com/shadow-robot/sr_utils + https://github.com/shadow-robot/sr_utils/issues + catkin + python3-rospkg + rospy + message_generation + std_msgs + python3-rospkg + rospy + std_msgs + python3-rospkg + rospy + message_runtime + diff --git a/sr_system_health/setup.py b/sr_system_health/setup.py new file mode 100644 index 0000000..7e4b87d --- /dev/null +++ b/sr_system_health/setup.py @@ -0,0 +1,12 @@ +# ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD + +from setuptools import setup +from catkin_pkg.python_setup import generate_distutils_setup + +# fetch values from package.xml +setup_args = generate_distutils_setup( + packages=['sr_system_health'], + package_dir={'': 'src'}, +) + +setup(**setup_args) diff --git a/sr_system_health/src/sr_system_health/__init__.py b/sr_system_health/src/sr_system_health/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/sr_system_health/src/sr_system_health/system_health.py b/sr_system_health/src/sr_system_health/system_health.py new file mode 100755 index 0000000..e3624e3 --- /dev/null +++ b/sr_system_health/src/sr_system_health/system_health.py @@ -0,0 +1,64 @@ +#!/usr/bin/env python3 + +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + +import psutil + +import rospy + +from sr_system_health.msg import SystemHealth + + +class SystemHealthCheck: + + def __init__(self): + + self._sampling_period = rospy.get_param("~sampling_period", 1) + + self._timer = rospy.Timer(rospy.Duration(self._sampling_period), self._timer_cb) + self._publisher = rospy.Publisher("/system_health", SystemHealth, queue_size=10) + + def _timer_cb(self, event): + + msg = SystemHealth() + + msg.stamp = rospy.Time().now() + msg.cpu_usage = psutil.cpu_percent() + msg.percpu_usage = psutil.cpu_percent(percpu=True) + + msg.cpu_frequency = psutil.cpu_freq().current + + cpu_frequencies = psutil.cpu_freq(percpu=True) + cpu_freq_list = [] + for cpu_freq in cpu_frequencies: + cpu_freq_list.append(cpu_freq.current) + msg.percpu_frequency = cpu_freq_list + + core_temps = psutil.sensors_temperatures()["coretemp"] + core_temp_list = [] + for core_temp in core_temps: + core_temp_list.append(core_temp.current) + msg.percore_temp = core_temp_list + + msg.ram_usage = psutil.virtual_memory().percent + msg.disk_usage = psutil.disk_usage('/').percent + + self._publisher.publish(msg) + + +if __name__ == "__main__": + rospy.init_node('system_health_node') + system_health_check = SystemHealthCheck() + rospy.spin()