add back ros_observer for as

common/ros_observer/CMakeLists.txt

@@ -0,0 +1,93 @@
+cmake_minimum_required(VERSION 3.1)
+project(ros_observer)
+
+find_package(carma_cmake_common REQUIRED)
+carma_check_ros_version(1)
+
+set(CMAKE_CXX_STANDARD 14)
+
+find_package(
+  catkin REQUIRED COMPONENTS
+  roscpp
+  roslint
+)
+
+find_package(Boost REQUIRED COMPONENTS
+  thread
+)
+
+set(ROSLINT_CPP_OPTS "--filter=-build/c++14")
+roslint_cpp()
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES lib_ros_observer
+)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+add_executable(
+  ros_observer
+  src/ros_observer.cpp
+)
+
+target_link_libraries(
+  ros_observer
+  rt ${Boost_LIBRARIES}
+  pthread
+)
+
+add_dependencies(
+  ros_observer
+  ${catkin_EXPORTED_TARGETS}
+)
+
+add_library(
+  lib_ros_observer
+  lib/lib_ros_observer.cpp
+)
+
+target_link_libraries(
+  lib_ros_observer
+  ${catkin_LIBRARIES}
+  rt
+  ${Boost_LIBRARIES}
+)
+
+add_dependencies(
+  lib_ros_observer
+  ${catkin_EXPORTED_TARGETS}
+)
+
+# include header files
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
+# Install library
+install(TARGETS ros_observer lib_ros_observer
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+# Install launch
+install(DIRECTORY launch/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+)
+
+if (CATKIN_ENABLE_TESTING)
+  roslint_add_test()
+  find_package(rostest REQUIRED)
+  add_rostest_gtest(test_ros_observer
+    test/test_ros_observer.test
+    test/src/test_ros_observer.cpp
+  )
+  target_link_libraries(test_ros_observer
+    lib_ros_observer
+    ${catkin_LIBRARIES}
+  )
+endif()

common/ros_observer/include/ros_observer/lib_ros_observer.h

@@ -0,0 +1,71 @@
+#ifndef ROS_OBSERVER_LIB_ROS_OBSERVER_H
+#define ROS_OBSERVER_LIB_ROS_OBSERVER_H
+
+/*
+ * Copyright 2019 Autoware Foundation. All rights reserved.
+ *
+ * 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.
+ *
+ */
+
+#include <string>
+#include <boost/interprocess/managed_shared_memory.hpp>
+#include <boost/interprocess/sync/interprocess_mutex.hpp>
+#include <boost/interprocess/sync/scoped_lock.hpp>
+#include <boost/thread.hpp>
+
+#include <ros_observer/ros_observer.h>
+
+enum class VitalMonitorMode
+{
+  CNT_CLEAR,
+  CNT_MON
+};
+
+class ShmVitalMonitor
+{
+public:
+  ShmVitalMonitor(std::string mod_name, const double loop_rate, VitalMonitorMode mode = VitalMonitorMode::CNT_CLEAR);
+
+  void set_mode(VitalMonitorMode mode) {mode_ = mode;}
+  void run(void);
+  bool is_error_detected(void);
+
+protected:
+  std::string name_, shm_name_, mut_name_;
+  VitalMonitorMode mode_;
+  bool is_opened_;
+  const unsigned int polling_interval_msec_;
+
+  bool attempt_to_open(void);
+  void init_vital_counter(void);
+  void update_vital_counter(void);
+};
+
+class ShmDRStopRequest
+{
+public:
+  ShmDRStopRequest() :
+  is_opened_(false), name_("DRStopRequest"), shm_name_("SHM_" + name_), mut_name_("MUT_" + name_) {}
+
+  void clear_request(void);
+  bool is_request_received(void);
+
+protected:
+  bool is_opened_;
+  std::string name_, shm_name_, mut_name_;
+
+  bool attempt_to_open(void);
+};
+
+#endif  // ROS_OBSERVER_LIB_ROS_OBSERVER_H

common/ros_observer/include/ros_observer/ros_observer.h

@@ -0,0 +1,53 @@
+#ifndef ROS_OBSERVER_ROS_OBSERVER_H
+#define ROS_OBSERVER_ROS_OBSERVER_H
+
+/*
+ * Copyright 2019 Autoware Foundation. All rights reserved.
+ *
+ * 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.
+ *
+ */
+
+#include <iostream>
+#include <string>
+#include <functional>
+#include <utility>
+#include <boost/interprocess/managed_shared_memory.hpp>
+#include <boost/interprocess/sync/interprocess_mutex.hpp>
+#include <boost/interprocess/sync/scoped_lock.hpp>
+#include <boost/thread.hpp>
+
+static constexpr const char* SHM_NAME = "SharedMemoryForVitalMonitor";
+static constexpr int SHM_SIZE = 65536;
+static constexpr unsigned int SHM_TH_COUNTER = 3;
+static constexpr unsigned int SHM_COUNTER_MAX = 10000;
+
+enum class ModuleStatus
+{
+  Normal,
+  ErrorDetected
+};
+
+struct ShmVitalCounter
+{
+  ModuleStatus modstatus;
+
+  bool activated;
+  unsigned int thresh;
+  unsigned int value;
+
+  ShmVitalCounter() :
+  modstatus(ModuleStatus::Normal), activated(false), thresh(0), value(0) {}
+};
+
+#endif  // ROS_OBSERVER_ROS_OBSERVER_H

common/ros_observer/launch/ros_observer.launch

@@ -0,0 +1,4 @@
+<?xml version="1.0"?>
+<launch>
+    <node pkg="ros_observer" type="ros_observer" name="ros_observer" output="log" respawn="false" />
+</launch>

common/ros_observer/launch/test.launch

@@ -0,0 +1,6 @@
+<?xml version="1.0"?>
+<launch>
+    <node pkg="ros_observer" type="ros_observer" name="ros_observer" output="screen" respawn="false" respawn_delay="0" />
+    <arg name="shm_vmon_enabled" default="false"/>
+    <param name="shm_vmon_enabled" value="$(arg shm_vmon_enabled)"/>
+</launch>