Grafana Integration

.github/workflows/lint.yaml

@@ -41,5 +41,6 @@ jobs:
           package-name: |
             diagnostic_aggregator
             diagnostic_common_diagnostics
+            diagnostic_remote_logging
             diagnostic_updater
             self_test

.github/workflows/test.yaml

@@ -17,6 +17,7 @@ jobs:
         package: [
             diagnostic_aggregator,
             diagnostic_common_diagnostics,
+            diagnostic_remote_logging,
             diagnostic_updater,
             self_test,
           ]

diagnostic_remote_logging/CMakeLists.txt

@@ -0,0 +1,52 @@
+cmake_minimum_required(VERSION 3.8)
+
+project(diagnostic_remote_logging)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+set(dependencies
+    ament_cmake
+    rclcpp
+    rclcpp_components
+    diagnostic_msgs
+    CURL
+)
+
+foreach(dep ${dependencies})
+    find_package(${dep} REQUIRED)
+endforeach(dep)
+
+include_directories(
+    src/
+    include/
+)
+add_library(influx_component SHARED src/influxdb.cpp)
+
+ament_target_dependencies(influx_component ${dependencies})
+
+ament_export_dependencies(influx_component ${dependencies})
+
+target_compile_features(influx_component PUBLIC c_std_99 cxx_std_17)
+
+rclcpp_components_register_node(
+    influx_component
+    PLUGIN "InfluxDB"
+    EXECUTABLE influx
+)
+ament_export_targets(export_influx_component)
+install(TARGETS influx_component
+        EXPORT export_influx_component
+        ARCHIVE DESTINATION lib
+        LIBRARY DESTINATION lib
+        RUNTIME DESTINATION bin
+)
+
+if(BUILD_TESTING)
+    find_package(ament_cmake_gtest REQUIRED)
+    ament_add_gtest(unit_tests test/influx_line_protocol.cpp)
+    target_include_directories(unit_tests PRIVATE include)
+    target_link_libraries(unit_tests influx_component)
+    ament_target_dependencies(unit_tests ${dependencies} ament_cmake_gtest)
+endif()
+ament_package()

diagnostic_remote_logging/README.md

@@ -0,0 +1,81 @@
+General information about this repository, including legal information and known issues/limitations, are given in [README.md](../README.md) in the repository root.
+
+# The diagnostic_remote_logging package
+
+This package provides the `influx` node, which listens to diagnostic messages and integrates with InfluxDB v2 for monitoring and visualization. Specifically, it subscribes to the [`diagnostic_msgs/DiagnosticArray`](https://index.ros.org/p/diagnostic_msgs) messages on the `/diagnostics_agg` topic and the [`diagnostic_msgs/DiagnosticStatus`](https://index.ros.org/p/diagnostic_msgs) messages on the `/diagnostics_toplevel_state` topic. The node processes these messages, sending their statistics and levels to an [`InfluxDB`](http://influxdb.com) database, enabling use with tools like [`Grafana`](https://grafana.com).
+
+As of now we only support InfluxDB v2, for support with older versions please use a proxy like [`Telegraf`](https://www.influxdata.com/time-series-platform/telegraf/). See section [Telegraf](## Using a Telegraf Proxy) for an example on how to setup.
+
+## Node Configuration
+
+You can send data to [`InfluxDB`](http://influxdb.com) in two ways: directly to the database or via a proxy like [`Telegraf`](https://www.influxdata.com/time-series-platform/telegraf/). While both methods are valid, using a proxy is generally recommended due to the following benefits:
+
+- **Efficient Data Transmission**: Telegraf aggregates multiple measurements and sends them in a single request, reducing bandwidth usage and minimizing database load.
+- **Enhanced Reliability**: Provides buffering in case of connection issues, ensuring no data is lost.
+- **Comprehensive Metric Collection**: Telegraf can send additional system metrics (e.g., RAM, CPU, network usage) with minimal configuration.
+- **Data Filtering and Transformation**: Supports preprocessing, such as filtering or transforming data, before sending it to InfluxDB.
+
+To use either method, ensure you have a running instance of InfluxDB. The simplest way to set this up is through [`InfluxDB Cloud`](https://cloud2.influxdata.com/signup).
+
+### Parameters
+
+The `influx` node supports several parameters. Below is an example configuration:
+
+```yaml
+/influx:
+  ros__parameters:
+    connection:
+      url: http://localhost:8086/api/v2/write
+      token:
+      bucket:
+      organization:
+    send:
+      agg: true
+      top_level_state: true
+```
+
+- `send.agg`: Enables or disables subscription to the `/diagnostics_agg` topic.
+- `send.top_level_state`: Enables or disables subscription to the `/diagnostics_toplevel_state` topic.
+
+#### InfluxDB Configuration
+
+## Starting the Node
+
+Set the following parameters in your configuration to match your InfluxDB instance:
+
+- `connection.url`: The URL of your InfluxDB write API endpoint.
+- `connection.token`: Your InfluxDB authentication token.
+- `connection.bucket`: The target bucket in InfluxDB.
+- `connection.organization`: The name of your InfluxDB organization.
+
+Afterwards run the node with the following command:
+
+```bash
+ros2 run diagnostic_remote_logging influx --ros-args --params-file <path_to_yaml_file>
+```
+
+## Using a Telegraf Proxy
+
+To configure Telegraf as a proxy for InfluxDB:
+
+1. Ensure Telegraf is set up to send data to your InfluxDB instance via its configuration file (`/etc/telegraf/telegraf.conf`). Check [this link](https://docs.influxdata.com/influxdb/cloud/write-data/no-code/use-telegraf/manual-config/) for an example.
+2. Add the following to the telegraf configuration file to enable the InfluxDB v2 listener:
+
+    ```toml
+    [[inputs.influxdb_v2_listener]]
+      service_address = ":8086"
+    ```
+
+3. Update the `influx` node configuration to point to the appropriate URL. For example, if Telegraf is running on the same host as the `influx` node, the default `http://localhost:8086/api/v2/write` should work.
+
+4. Leave the following parameters empty in the `influx` node configuration when using Telegraf as a proxy:
+
+    - `connection.token`
+    - `connection.bucket`
+    - `connection.organization`
+
+5. Afterwards run the node with the following command:
+
+    ```bash
+    ros2 run diagnostic_remote_logging influx --ros-args --params-file <path_to_yaml_file>
+    ```

diagnostic_remote_logging/include/diagnostic_remote_logging/influx_line_protocol.hpp

@@ -0,0 +1,158 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2025, Willow Garage, Inc.
+ *  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.
+ *********************************************************************/
+
+/**
+ * \author Daan Wijffels
+ */
+
+#pragma once
+
+#include "diagnostic_msgs/msg/diagnostic_array.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+std::string toInfluxTimestamp(const rclcpp::Time& time)
+{
+  uint64_t seconds     = static_cast<uint64_t>(time.seconds());
+  uint64_t nanoseconds = static_cast<uint64_t>(time.nanoseconds()) % 1000000000;
+
+  // Convert to strings
+  std::string secStr     = std::to_string(seconds);
+  std::string nanosecStr = std::to_string(nanoseconds);
+
+  // Zero-pad nanoseconds to 9 digits
+  nanosecStr = std::string(9 - nanosecStr.length(), '0') + nanosecStr;
+
+  return secStr + nanosecStr;
+}
+
+std::string escapeSpace(const std::string& input)
+{
+  std::string result;
+  for (char c : input) {
+    if (c == ' ') {
+      result += '\\'; // Add a backslash before the space
+    }
+    result += c; // Add the original character
+  }
+  return result;
+}
+
+bool is_number(const std::string& s)
+{
+  std::istringstream iss(s);
+  double             d;
+  return iss >> std::noskipws >> d && iss.eof();
+}
+
+std::string formatValues(const std::vector<diagnostic_msgs::msg::KeyValue>& values)
+{
+  std::string formatted;
+  for (const auto& kv : values) {
+    if (kv.value.find("\n") != std::string::npos) {
+      // If the value contains a newline, skip it
+      // InfluxDB uses this to separate measurements
+      continue;
+    }
+
+    formatted += escapeSpace(kv.key) + "=";
+
+    if (is_number(kv.value)) {
+      formatted += kv.value;
+    } else {
+      formatted += "\"" + kv.value + "\"";
+    }
+    formatted += ",";
+  }
+  if (!formatted.empty()) {
+    formatted.pop_back(); // Remove the last comma
+  }
+  return formatted;
+}
+
+std::pair<std::string, std::string> splitHardwareID(const std::string& input)
+{
+  size_t first_slash_pos = input.find('/');
+
+  // If no slash is found, treat the entire input as the node_name
+  if (first_slash_pos == std::string::npos) {
+    return {"none", input};
+  }
+
+  size_t second_slash_pos = input.find('/', first_slash_pos + 1);
+
+  // If the second slash is found, extract the "ns" and "node" parts
+  if (second_slash_pos != std::string::npos) {
+    std::string ns   = input.substr(first_slash_pos + 1, second_slash_pos - first_slash_pos - 1);
+    std::string node = input.substr(second_slash_pos + 1);
+    return {ns, node};
+  }
+
+  // If no second slash is found, everything after the first slash is the node
+  std::string node = input.substr(first_slash_pos + 1);
+  return {"none", node}; // ns is empty, node is the remaining string
+}
+
+void statusToInfluxLineProtocol(std::string& output, const diagnostic_msgs::msg::DiagnosticStatus& status, const std::string& timestamp_str)
+{
+  // hardware_id is empty for analyzer groups, so skip them
+  if (status.hardware_id.empty()) {
+    return;
+  }
+
+  auto [ns, identifier] = splitHardwareID(status.hardware_id);
+  output += escapeSpace(identifier) + ",ns=" + escapeSpace(ns) + " level=" + std::to_string(status.level) + ",message=\"" + status.message + "\"";
+  auto formatted_key_values = formatValues(status.values);
+  if (!formatted_key_values.empty()) {
+    output += "," + formatted_key_values;
+  }
+  output += " " + timestamp_str + "\n";
+}
+
+std::string diagnosticStatusToInfluxLineProtocol(const diagnostic_msgs::msg::DiagnosticStatus::SharedPtr& msg, const rclcpp::Time& time)
+{
+  std::string output = msg->name + " level=" + std::to_string(msg->level) + " " + toInfluxTimestamp(time) + "\n";
+  return output;
+};
+
+std::string diagnosticArrayToInfluxLineProtocol(const diagnostic_msgs::msg::DiagnosticArray::SharedPtr& diag_msg)
+{
+  std::string output;
+  std::string timestamp = toInfluxTimestamp(diag_msg->header.stamp);
+
+  for (auto& status : diag_msg->status) {
+    statusToInfluxLineProtocol(output, status, timestamp);
+  }
+
+  return output;
+};

diagnostic_remote_logging/include/diagnostic_remote_logging/influxdb.hpp

@@ -0,0 +1,63 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2025, Willow Garage, Inc.
+ *  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.
+ *********************************************************************/
+
+/**
+ * \author Daan Wijffels
+ */
+
+#include "diagnostic_msgs/msg/diagnostic_array.hpp"
+#include "diagnostic_remote_logging/influx_line_protocol.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include <curl/curl.h>
+
+class InfluxDB : public rclcpp::Node
+{
+public:
+  explicit InfluxDB(const rclcpp::NodeOptions& opt);
+  ~InfluxDB();
+
+private:
+  rclcpp::Subscription<diagnostic_msgs::msg::DiagnosticArray>::SharedPtr  diag_sub_;
+  rclcpp::Subscription<diagnostic_msgs::msg::DiagnosticStatus>::SharedPtr top_level_sub_;
+
+  std::string post_url_, influx_token_;
+  CURL*       curl_;
+
+  void setupConnection(const std::string& telegraf_url);
+
+  void diagnosticsCallback(const diagnostic_msgs::msg::DiagnosticArray::SharedPtr msg);
+  void topLevelCallback(const diagnostic_msgs::msg::DiagnosticStatus::SharedPtr msg);
+
+  bool sendToInfluxDB(const std::string& data);
+};

diagnostic_remote_logging/package.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>diagnostic_remote_logging</name>
+  <version>4.3.1</version>
+  <description>diagnostic_remote_logging</description>
+  <maintainer email="[email protected]">Daan Wijffels</maintainer>
+  <license>>BSD-3-Clause</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <build_depend>diagnostic_msgs</build_depend>
+  <build_depend>rclcpp_components</build_depend>
+  <build_depend>curl</build_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <test_depend>ament_cmake_gtest</test_depend>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>