fix(system_monitor): output command line

[takeshi-iwanari]

Description

• Background
  • fix(system_monitor): extend command line to display #4553 modified process_monitor to output full command string instead of just a command name. However, it doesn't work with some environment and perf(system_monitor): fix program command line reading #5191 fixed the issue. However, the current process_monitor still have some issues.
• Issue
  • a. Current process_monitor only outputs a command path (details like parameters are not displayed)
  • b. Displayed command name becomes blank when the process is kernel process
• How this PR fixes the issues
  • For issue a, the cause is that NUL (0x00) is used as deliminator in /proc/{PID}/cmdline instead of SPACE (0x20). Code in fix(system_monitor): extend command line to display #4553 reads cmdline into string, but when NUL appears, it finishes reading and only the first part (command path) is stored. This PR reads cmdline into buffer, then replace NUL to SPACE and casts it to string
  • For issue b, the cause is that /proc/{PID}/cmdline for kernel process is empty. So, when the read cmdline is empty, this PR uses the result of top command

Related links

TIER IV INTERNAL LINK TO JIRA

Tests performed

1. Run Autoware.
2. Run rqt_runtime_monitor.

ros2 run rqt_runtime_monitor rqt_runtime_monitor

3. Verify a more detailed COMMAND string is provided.

Original result

↓ComponentContainer (only command path is displayed)

↓Kernel Process (COMMAND is empty)

Result with this PR

↓ComponentContainer

↓Kernel Process

Notes for reviewers

None

Interface changes

None

Effects on system behavior

None

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the [contribution guidelines].
• The PR follows the [pull request guidelines].

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the [pull request guidelines].
• The PR has been properly tested.
• The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.
• The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

[ito-san]

Thank you for the bug fix! LGTM

[codecov]

Codecov Report

Attention: 7 lines in your changes are missing coverage. Please review.

Comparison is base (bfabbca) 15.06% compared to head (28ae8da) 15.07%.
Report is 5 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #5430   +/-   ##
=======================================
  Coverage   15.06%   15.07%           
=======================================
  Files        1662     1662           
  Lines      115713   115651   -62     
  Branches    35755    35725   -30     
=======================================
- Hits        17437    17435    -2     
+ Misses      78739    78679   -60     
  Partials    19537    19537           

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	15.07% <ø> (+<0.01%)	⬆️	Carriedforward from bfabbca

*This pull request uses carry forward flags. Click here to find out more.

Files	Coverage Δ
common/kalman_filter/src/kalman_filter.cpp	40.67% <ø> (-1.26%)	⬇️
..._localizer/include/ekf_localizer/ekf_localizer.hpp	0.00% <ø> (ø)
localization/ekf_localizer/src/ekf_localizer.cpp	0.00% <ø> (ø)
...em_monitor/src/process_monitor/process_monitor.cpp	0.00% <0.00%> (ø)

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

[asana17]

LGTM.