chore(sync): merged autoware.iv/pull/2362 (#761)

system/system_monitor/CMakeLists.txt

@@ -127,6 +127,10 @@ ament_auto_add_executable(hdd_reader
   reader/hdd_reader/hdd_reader.cpp
 )
 
+ament_auto_add_executable(traffic_reader
+  reader/traffic_reader/traffic_reader.cpp
+)
+
 find_library(NL3 nl-3 REQUIRED)
 find_library(NLGENL3 nl-genl-3 REQUIRED)
 list(APPEND NL_LIBS ${NL3} ${NLGENL3})
@@ -148,6 +152,7 @@ target_link_libraries(process_monitor_lib ${LIBRARIES})
 target_link_libraries(gpu_monitor_lib ${GPU_LIBRARY} ${Boost_LIBRARIES} ${LIBRARIES})
 target_link_libraries(msr_reader ${Boost_LIBRARIES} ${LIBRARIES})
 target_link_libraries(hdd_reader ${Boost_LIBRARIES} ${LIBRARIES})
+target_link_libraries(traffic_reader ${Boost_LIBRARIES} ${LIBRARIES})
 
 rclcpp_components_register_node(cpu_monitor_lib
   PLUGIN "CPUMonitor"

system/system_monitor/config/cpu_monitor.param.yaml

@@ -1,8 +1,7 @@
 /**:
   ros__parameters:
-    temp_warn: 90.0
-    temp_error: 95.0
-    usage_warn: 0.90
+    usage_warn: 0.96
     usage_error: 1.00
+    usage_count: 2
     usage_avg: true
     msr_reader_port: 7634

system/system_monitor/config/hdd_monitor.param.yaml

@@ -4,8 +4,8 @@
     num_disks: 1
     disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1}
       disk0:
-        name: /dev/sda
+        name: /dev/sda3
         temp_warn: 55.0
         temp_error: 70.0
-        usage_warn: 0.95
-        usage_error: 0.99
+        free_warn: 5120 # MB(8hour)
+        free_error: 100 # MB(last 1 minute)

system/system_monitor/config/mem_monitor.param.yaml

@@ -1,4 +1,3 @@
 /**:
   ros__parameters:
-    usage_warn: 0.95
-    usage_error: 0.99
+    available_size: 1024 # MB

system/system_monitor/config/net_monitor.param.yaml

@@ -1,4 +1,5 @@
 /**:
   ros__parameters:
     devices: ["*"]
-    usage_warn: 0.95
+    traffic_reader_port: 7636
+    monitor_program: "greengrass"

system/system_monitor/docs/topics_cpu_monitor.md

@@ -9,8 +9,6 @@
 | level | message |
 | ----- | ------- |
 | OK    | OK      |
-| WARN  | warm    |
-| ERROR | hot     |
 
 <b>[values]</b>
 

system/system_monitor/docs/topics_mem_monitor.md

@@ -14,15 +14,19 @@
 
 <b>[values]</b>
 
-| key          | value (example) |
-| ------------ | --------------- |
-| Mem: usage   | 18.99%          |
-| Mem: total   | 31G             |
-| Mem: used    | 5.9G            |
-| Mem: free    | 15G             |
-| Swap: total  | 2.0G            |
-| Swap: used   | 0B              |
-| Swap: free   | 2.0G            |
-| Total: total | 33G             |
-| Total: used  | 5.9G            |
-| Total: free  | 17G             |
+| key             | value (example) |
+| --------------- | --------------- |
+| Mem: usage      | 29.72%          |
+| Mem: total      | 31.2G           |
+| Mem: used       | 6.0G            |
+| Mem: free       | 20.7G           |
+| Mem: shared     | 2.9G            |
+| Mem: buff/cache | 4.5G            |
+| Mem: available  | 21.9G           |
+| Swap: total     | 2.0G            |
+| Swap: used      | 218M            |
+| Swap: free      | 1.8G            |
+| Total: total    | 33.2G           |
+| Total: used     | 6.2G            |
+| Total: free     | 22.5G           |
+| Total: used+    | 9.1G            |

system/system_monitor/docs/topics_net_monitor.md

@@ -2,30 +2,64 @@
 
 ## <u>Network Usage</u>
 
-/diagnostics/cpu_monitor: Network Usage
+/diagnostics/net_monitor: Network Usage
 
 <b>[summary]</b>
 
-| level | message   |
-| ----- | --------- |
-| OK    | OK        |
-| WARN  | high load |
-| ERROR | down      |
+| level | message |
+| ----- | ------- |
+| OK    | OK      |
 
 <b>[values]</b>
 
-| key                           | value (example)       |
-| ----------------------------- | --------------------- |
-| Network [0-9]: status         | OK / high load / down |
-| Network [0-9]: interface name | wlp82s0               |
-| Network [0-9]: rx_usage       | 0.00%                 |
-| Network [0-9]: tx_usage       | 0.00%                 |
-| Network [0-9]: rx_traffic     | 0.00 MB/s             |
-| Network [0-9]: tx_traffic     | 0.00 MB/s             |
-| Network [0-9]: capacity       | 400.0 MB/s            |
-| Network [0-9]: mtu            | 1500                  |
-| Network [0-9]: rx_bytes       | 58455228              |
-| Network [0-9]: rx_errors      | 0                     |
-| Network [0-9]: tx_bytes       | 11069136              |
-| Network [0-9]: tx_errors      | 0                     |
-| Network [0-9]: collisions     | 0                     |
+| key                           | value (example) |
+| ----------------------------- | --------------- |
+| Network [0-9]: status         | OK              |
+| Network [0-9]: interface name | wlp82s0         |
+| Network [0-9]: rx_usage       | 0.00%           |
+| Network [0-9]: tx_usage       | 0.00%           |
+| Network [0-9]: rx_traffic     | 0.00 MB/s       |
+| Network [0-9]: tx_traffic     | 0.00 MB/s       |
+| Network [0-9]: capacity       | 400.0 MB/s      |
+| Network [0-9]: mtu            | 1500            |
+| Network [0-9]: rx_bytes       | 58455228        |
+| Network [0-9]: rx_errors      | 0               |
+| Network [0-9]: tx_bytes       | 11069136        |
+| Network [0-9]: tx_errors      | 0               |
+| Network [0-9]: collisions     | 0               |
+
+## <u>Network Traffic</u>
+
+/diagnostics/net_monitor: Network Traffic
+
+<b>[summary]</b>
+
+| level | message |
+| ----- | ------- |
+| OK    | OK      |
+
+<b>[values] program</b>
+
+| key                              | value (example)                             |
+| -------------------------------- | ------------------------------------------- |
+| nethogs [0-9]: PROGRAM           | /lambda/greengrassSystemComponents/1384/999 |
+| nethogs [0-9]: SENT (KB/Sec)     | 1.13574                                     |
+| nethogs [0-9]: RECEIVED (KB/Sec) | 0.261914                                    |
+
+<b>[values] all</b>
+
+| key                   | value (example)                                                |
+| --------------------- | -------------------------------------------------------------- |
+| nethogs: all (KB/Sec) | python3.7/1520/999 0.274414 0.354883                           |
+|                       | /lambda/greengrassSystemComponents/1299/999 0.487305 0.0966797 |
+|                       | sshd: muser@pts/5/15917/1002 0.396094 0.0585938                |
+|                       | /usr/bin/python3.7/2371/999 0 0                                |
+|                       | /greengrass/ggc/packages/1.10.0/bin/daemon/906/0 0 0           |
+|                       | python3.7/4362/999 0 0                                         |
+|                       | unknown TCP/0/0 0 0                                            |
+
+<b>[values] error</b>
+
+| key   | value (example)                                       |
+| ----- | ----------------------------------------------------- |
+| error | [nethogs -t] execve failed: No such file or directory |

system/system_monitor/docs/traffic_reader.md

@@ -0,0 +1,31 @@
+# traffic_reader
+
+## Name
+
+traffic_reader - monitoring netwok traffic by process
+
+## Synopsis
+
+traffic_reader [OPTION]
+
+## Description
+
+Monitoring netwok traffic by process.<br>
+This runs as a daemon process and listens to a TCP/IP port (7636 by default).
+
+**Options:**<br>
+_-h, --help_<br>
+&nbsp;&nbsp;&nbsp;&nbsp;Display help<br>
+_-p, --port #_<br>
+&nbsp;&nbsp;&nbsp;&nbsp;Port number to listen to
+
+**Exit status:**<br>
+Returns 0 if OK; non-zero otherwise.
+
+## Notes
+
+The 'traffic_reader' requires nethogs command.<br>
+
+## Operation confirmed platform
+
+- Ubuntu 20.04.3 LTS (GNU/Linux 5.11.0-40-generic x86_64)

system/system_monitor/include/system_monitor/cpu_monitor/cpu_monitor_base.hpp

@@ -97,6 +97,14 @@ class CPUMonitorBase : public rclcpp::Node
   virtual void checkUsage(
     diagnostic_updater::DiagnosticStatusWrapper & stat);  // NOLINT(runtime/references)
 
+  /**
+   * @brief convert Cpu Usage To diagnostic Level
+   * @param [cpu_name] mpstat cpu name
+   * @param [usage] cpu usage value
+   * @return DiagStatus::OK or WARN or ERROR
+   */
+  virtual int CpuUsageToLevel(const std::string & cpu_name, float usage);
+
   /**
    * @brief check CPU load average
    * @param [out] stat diagnostic message passed directly to diagnostic publish calls
@@ -128,12 +136,12 @@ class CPUMonitorBase : public rclcpp::Node
   int num_cores_;                     //!< @brief number of cores
   std::vector<cpu_temp_info> temps_;  //!< @brief CPU list for temperature
   std::vector<cpu_freq_info> freqs_;  //!< @brief CPU list for frequency
+  std::vector<int> usage_check_cnt_;  //!< @brief CPU list for usage over check counter
   bool mpstat_exists_;                //!< @brief flag if mpstat exists
 
-  float temp_warn_;    //!< @brief CPU temperature(DegC) to generate warning
-  float temp_error_;   //!< @brief CPU temperature(DegC) to generate error
   float usage_warn_;   //!< @brief CPU usage(%) to generate warning
   float usage_error_;  //!< @brief CPU usage(%) to generate error
+  int usage_count_;    //!< @brief CPU usage(%) usage over continuous count
   bool usage_avg_;     //!< @brief Check CPU usage calculated as averages among all processors
 
   /**

system/system_monitor/include/system_monitor/hdd_monitor/hdd_monitor.hpp

@@ -32,12 +32,12 @@
  */
 struct HDDParam
 {
-  float temp_warn_;    //!< @brief HDD temperature(DegC) to generate warning
-  float temp_error_;   //!< @brief HDD temperature(DegC) to generate error
-  float usage_warn_;   //!< @brief HDD usage(%) to generate warning
-  float usage_error_;  //!< @brief HDD usage(%) to generate error
+  float temp_warn_;   //!< @brief HDD temperature(DegC) to generate warning
+  float temp_error_;  //!< @brief HDD temperature(DegC) to generate error
+  int free_warn_;     //!< @brief HDD free space(MB) to generate warning
+  int free_error_;    //!< @brief HDD free space(MB) to generate error
 
-  HDDParam() : temp_warn_(55.0), temp_error_(70.0), usage_warn_(0.95), usage_error_(0.99) {}
+  HDDParam() : temp_warn_(55.0), temp_error_(70.0), free_warn_(5120), free_error_(100) {}
 };
 
 class HDDMonitor : public rclcpp::Node
@@ -74,6 +74,13 @@ class HDDMonitor : public rclcpp::Node
   void checkUsage(
     diagnostic_updater::DiagnosticStatusWrapper & stat);  // NOLINT(runtime/references)
 
+  /**
+   * @brief human readable size string to MB
+   * @param [in] human readable size string
+   * @return Megabyte
+   */
+  int HumanReadableToMegaByte(const std::string & str);
+
   /**
    * @brief get HDD parameters
    */

system/system_monitor/include/system_monitor/mem_monitor/mem_monitor.hpp

@@ -63,8 +63,7 @@ class MemMonitor : public rclcpp::Node
 
   char hostname_[HOST_NAME_MAX + 1];  //!< @brief host name
 
-  float usage_warn_;   //!< @brief Memory usage(%) to generate warning
-  float usage_error_;  //!< @brief Memory usage(%) to generate error
+  size_t available_size_;  //!< @brief Memory available size to generate error
 
   /**
    * @brief Memory usage status messages

system/system_monitor/include/system_monitor/net_monitor/net_monitor.hpp

@@ -77,6 +77,15 @@ class NetMonitor : public rclcpp::Node
   void checkUsage(
     diagnostic_updater::DiagnosticStatusWrapper & stat);  // NOLINT(runtime/references)
 
+  /**
+   * @brief monitor traffic
+   * @param [out] stat diagnostic message passed directly to diagnostic publish calls
+   * @note NOLINT syntax is needed since diagnostic_updater asks for a non-const reference
+   * to pass diagnostic message updated in this function to diagnostic publish calls.
+   */
+  void monitorTraffic(
+    diagnostic_updater::DiagnosticStatusWrapper & stat);  // NOLINT(runtime/references)
+
   /**
    * @brief get wireless speed
    * @param [in] ifa_name interface name
@@ -92,7 +101,9 @@ class NetMonitor : public rclcpp::Node
   std::vector<std::string> device_params_;  //!< @brief list of devices
   NL80211 nl80211_;                         // !< @brief 802.11 netlink-based interface
 
-  float usage_warn_;  //!< @brief Memory usage(%) to generate warning
+  std::string monitor_program_;  //!< @brief nethogs monitor program name
+  bool nethogs_all_;             //!< @brief nethogs result all mode
+  int traffic_reader_port_;      //!< @brief port number to connect to traffic_reader
 
   /**
    * @brief Network usage status messages

system/system_monitor/include/traffic_reader/traffic_reader.hpp

@@ -0,0 +1,55 @@
+// Copyright 2021 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.
+
+/**
+ * @file traffic_reader.h
+ * @brief traffic reader definitions
+ */
+
+#ifndef TRAFFIC_READER__TRAFFIC_READER_HPP_
+#define TRAFFIC_READER__TRAFFIC_READER_HPP_
+
+#include <boost/serialization/serialization.hpp>
+#include <boost/serialization/string.hpp>
+
+#include <string>
+
+/**
+ * @brief traffic information
+ */
+struct TrafficReaderResult
+{
+  int error_code_;   //!< @brief error code, 0 on success, otherwise error
+  std::string str_;  //!< @brief nethogs result string
+
+  /**
+   * @brief Load or save data members.
+   * @param [inout] ar archive reference to load or save the serialized data members
+   * @param [in] version version for the archive
+   * @note NOLINT syntax is needed since this is an interface to serialization and
+   * used inside boost serialization.
+   */
+  template <typename archive>
+  void serialize(archive & ar, const unsigned /*version*/)  // NOLINT(runtime/references)
+  {
+    ar & error_code_;
+    ar & str_;
+  }
+};
+
+constexpr std::string_view GET_ALL_STR{"<All>"};  //!< @brief nethogs result all request string
+
+constexpr int TRAFFIC_READER_PORT = 7636;  //!< @brief traffic reader port: 7634-7647 Unassigned
+
+#endif  // TRAFFIC_READER__TRAFFIC_READER_HPP_