From 5c0891a627ad3cd66003ad9ec31568bbecc3d961 Mon Sep 17 00:00:00 2001
From: Antoine Lima <antoine@sagou.in>
Date: Fri, 15 Mar 2024 17:46:08 +0100
Subject: [PATCH] Adapt documentation and CMakeList to new hd_monitor.py

---
 diagnostic_common_diagnostics/CMakeLists.txt |  1 +
 diagnostic_common_diagnostics/README.md      | 15 ++++++++++++++-
 diagnostic_common_diagnostics/mainpage.dox   |  1 +
 3 files changed, 16 insertions(+), 1 deletion(-)

diff --git a/diagnostic_common_diagnostics/CMakeLists.txt b/diagnostic_common_diagnostics/CMakeLists.txt
index 65720a08e..73c2a99c0 100644
--- a/diagnostic_common_diagnostics/CMakeLists.txt
+++ b/diagnostic_common_diagnostics/CMakeLists.txt
@@ -9,6 +9,7 @@ ament_python_install_package(${PROJECT_NAME})
 
 install(PROGRAMS
     ${PROJECT_NAME}/ntp_monitor.py
+    ${PROJECT_NAME}/hd_monitor.py
     DESTINATION lib/${PROJECT_NAME}
 )
 
diff --git a/diagnostic_common_diagnostics/README.md b/diagnostic_common_diagnostics/README.md
index 452d163ed..b36bfe1fd 100644
--- a/diagnostic_common_diagnostics/README.md
+++ b/diagnostic_common_diagnostics/README.md
@@ -44,7 +44,20 @@ Computer name in diagnostics output (ex: 'c1')
 Disable self test.
 
 ## hd_monitor.py
-**To be ported**
+Runs 'shutil.disk_usage' to check if there is enough space left on a given device.
+* Above 5% of free space left, an `OK` status will be published.
+* Between 5% and 1%, a `WARN` status will be published,
+* Below 1%, an `ERROR` status will be published.
+
+### Published Topics
+#### /diagnostics
+diagnostic_msgs/DiagnosticArray
+The diagnostics information.
+
+### Parameters
+#### path
+(default: home directory "~")
+Path in which to check remaining space.
 
 ## cpu_monitor.py
 **To be ported**
diff --git a/diagnostic_common_diagnostics/mainpage.dox b/diagnostic_common_diagnostics/mainpage.dox
index 25ee9c863..b9ade3687 100644
--- a/diagnostic_common_diagnostics/mainpage.dox
+++ b/diagnostic_common_diagnostics/mainpage.dox
@@ -4,6 +4,7 @@
 
 \b diagnostic_common_diagnostics contains a few common diagnostic nodes
 
+- hd_monitor publishes diagnostic messages related to the available space on a given storage device.
 - ntp_monitor publishes diagnostic messages for how well the NTP time sync is working.
 - tf_monitor used to publish diagnostic messages reporting on the health of
 the TF tree. It is based on tfwtf. It is not ported to ROS2.