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* add cpu monitor to the common diagnostics * add 3 unittests * add psutil to package xml * add debug print for cpu percentages and change checking percentage to -1 * update code with review comments. Added a SetUp() method in the test and move the sleep to there to make sure this is done every test in a systemactic way --------- Co-authored-by: Richardvdketterij <[email protected]> (cherry picked from commit f89beba) Co-authored-by: Richard <[email protected]>
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119 changes: 119 additions & 0 deletions
119
diagnostic_common_diagnostics/diagnostic_common_diagnostics/cpu_monitor.py
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| @@ -0,0 +1,119 @@ | ||
| #!/usr/bin/env python3 | ||
| # -*- coding: utf-8 -*- | ||
| # | ||
| # Software License Agreement (BSD License) | ||
| # | ||
| # Copyright (c) 2017, TNO IVS, Helmond, Netherlands | ||
| # All rights reserved. | ||
| # | ||
| # Redistribution and use in source and binary forms, with or without | ||
| # modification, are permitted provided that the following conditions | ||
| # are met: | ||
| # | ||
| # * Redistributions of source code must retain the above copyright | ||
| # notice, this list of conditions and the following disclaimer. | ||
| # * Redistributions in binary form must reproduce the above | ||
| # copyright notice, this list of conditions and the following | ||
| # disclaimer in the documentation and/or other materials provided | ||
| # with the distribution. | ||
| # * Neither the name of the TNO IVS nor the names of its | ||
| # contributors may be used to endorse or promote products derived | ||
| # from this software without specific prior written permission. | ||
| # | ||
| # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| # POSSIBILITY OF SUCH DAMAGE. | ||
|
|
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| # \author Rein Appeldoorn | ||
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| from collections import deque | ||
| import socket | ||
| import traceback | ||
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| from diagnostic_msgs.msg import DiagnosticStatus | ||
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| from diagnostic_updater import DiagnosticTask, Updater | ||
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| import psutil | ||
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| import rclpy | ||
| from rclpy.node import Node | ||
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| class CpuTask(DiagnosticTask): | ||
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| def __init__(self, warning_percentage=90, window=1): | ||
| DiagnosticTask.__init__(self, 'CPU Information') | ||
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| self._warning_percentage = int(warning_percentage) | ||
| self._readings = deque(maxlen=window) | ||
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| def _get_average_reading(self): | ||
| def avg(lst): | ||
| return float(sum(lst)) / len(lst) if lst else float('nan') | ||
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| return [avg(cpu_percentages) | ||
| for cpu_percentages in zip(*self._readings)] | ||
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| def run(self, stat): | ||
| self._readings.append(psutil.cpu_percent(percpu=True)) | ||
| cpu_percentages = self._get_average_reading() | ||
| cpu_average = sum(cpu_percentages) / len(cpu_percentages) | ||
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| stat.add('CPU Load Average', f'{cpu_average:.2f}') | ||
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| warn = False | ||
| for idx, cpu_percentage in enumerate(cpu_percentages): | ||
| stat.add(f'CPU {idx} Load', f'{cpu_percentage:.2f}') | ||
| if cpu_percentage > self._warning_percentage: | ||
| warn = True | ||
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| if warn: | ||
| stat.summary(DiagnosticStatus.WARN, | ||
| f'At least one CPU exceeds {self._warning_percentage} percent') | ||
| else: | ||
| stat.summary(DiagnosticStatus.OK, | ||
| f'CPU Average {cpu_average:.2f} percent') | ||
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| return stat | ||
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| def main(args=None): | ||
| rclpy.init(args=args) | ||
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| # Create the node | ||
| hostname = socket.gethostname() | ||
| node = Node(f'cpu_monitor_{hostname.replace("-", "_")}') | ||
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| # Declare and get parameters | ||
| node.declare_parameter('warning_percentage', 90) | ||
| node.declare_parameter('window', 1) | ||
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| warning_percentage = node.get_parameter( | ||
| 'warning_percentage').get_parameter_value().integer_value | ||
| window = node.get_parameter('window').get_parameter_value().integer_value | ||
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| # Create diagnostic updater with default updater rate of 1 hz | ||
| updater = Updater(node) | ||
| updater.setHardwareID(hostname) | ||
| updater.add(CpuTask(warning_percentage=warning_percentage, window=window)) | ||
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| rclpy.spin(node) | ||
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| if __name__ == '__main__': | ||
| try: | ||
| main() | ||
| except KeyboardInterrupt: | ||
| pass | ||
| except Exception: | ||
| traceback.print_exc() |
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116 changes: 116 additions & 0 deletions
116
diagnostic_common_diagnostics/test/systemtest/test_cpu_monitor.py
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,116 @@ | ||
| # -*- coding: utf-8 -*- | ||
| # Software License Agreement (BSD License) | ||
| # | ||
| # Copyright (c) 2023, Robert Bosch GmbH | ||
| # All rights reserved. | ||
| # | ||
| # Redistribution and use in source and binary forms, with or without | ||
| # modification, are permitted provided that the following conditions | ||
| # are met: | ||
| # | ||
| # * Redistributions of source code must retain the above copyright | ||
| # notice, this list of conditions and the following disclaimer. | ||
| # * Redistributions in binary form must reproduce the above | ||
| # copyright notice, this list of conditions and the following | ||
| # disclaimer in the documentation and/or other materials provided | ||
| # with the distribution. | ||
| # * Neither the name of the Willow Garage nor the names of its | ||
| # contributors may be used to endorse or promote products derived | ||
| # from this software without specific prior written permission. | ||
| # | ||
| # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| # POSSIBILITY OF SUCH DAMAGE. | ||
|
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| import time | ||
| import unittest | ||
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| from diagnostic_common_diagnostics.cpu_monitor import CpuTask | ||
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| from diagnostic_msgs.msg import DiagnosticStatus | ||
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| from diagnostic_updater import DiagnosticArray, Updater | ||
| from diagnostic_updater import DiagnosticStatusWrapper | ||
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| import rclpy | ||
| from rclpy.node import Node | ||
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| class TestCPUMonitor(unittest.TestCase): | ||
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| @classmethod | ||
| def setUpClass(cls): | ||
| rclpy.init(args=None) | ||
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| @classmethod | ||
| def tearDownClass(cls): | ||
| if rclpy.ok(): | ||
| rclpy.shutdown() | ||
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| def setUp(self): | ||
| # In this case is recommended for accuracy that psutil.cpu_percent() | ||
| # function be called with at least 0.1 seconds between calls. | ||
| time.sleep(0.1) | ||
|
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| def diagnostics_callback(self, msg): | ||
| self.message_recieved = True | ||
| self.assertEqual(len(msg.status), 1) | ||
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| def test_ok(self): | ||
| warning_percentage = 100 | ||
| task = CpuTask(warning_percentage) | ||
| stat = DiagnosticStatusWrapper() | ||
| task.run(stat) | ||
| self.assertEqual(task.name, 'CPU Information') | ||
| self.assertEqual(stat.level, DiagnosticStatus.OK) | ||
| self.assertIn(str('CPU Average'), stat.message) | ||
|
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| # Check for at least 1 CPU Load Average and 1 CPU Load | ||
| self.assertGreaterEqual(len(stat.values), 2) | ||
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| def test_warn(self): | ||
| warning_percentage = -1 | ||
| task = CpuTask(warning_percentage) | ||
| stat = DiagnosticStatusWrapper() | ||
| task.run(stat) | ||
| print(f'Raw readings: {task._readings}') | ||
| self.assertEqual(task.name, 'CPU Information') | ||
| self.assertEqual(stat.level, DiagnosticStatus.WARN) | ||
| self.assertIn(str('At least one CPU exceeds'), stat.message) | ||
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| # Check for at least 1 CPU Load Average and 1 CPU Load | ||
| self.assertGreaterEqual(len(stat.values), 2) | ||
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| def test_updater(self): | ||
| self.message_recieved = False | ||
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| node = Node('cpu_monitor_test') | ||
| updater = Updater(node) | ||
| updater.setHardwareID('test_id') | ||
| updater.add(CpuTask()) | ||
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| node.create_subscription( | ||
| DiagnosticArray, '/diagnostics', self.diagnostics_callback, 10) | ||
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| start_time = time.time() | ||
| timeout = 5.0 # Timeout in seconds | ||
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| while not self.message_recieved: | ||
| rclpy.spin_once(node) | ||
| time.sleep(0.1) | ||
| elapsed_time = time.time() - start_time | ||
| if elapsed_time >= timeout: | ||
| self.fail('No diagnostics received') | ||
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| if __name__ == '__main__': | ||
| unittest.main() |