feat: add metrics publisher for NT (#1791)

Publishes metrics to NT using a protobuf under
`photonvision/coprocessors/metrics` using the device host name as the
key.

Refactors metrics to use numbers where possible, instead of strings.

Removes GPU mem display from metrics card when it can't be determined.

Updates UI metrics periodically.

Resolves #1988

Closes #830

---------

Co-authored-by: Matt <[email protected]>
Co-authored-by: Gold856 <[email protected]>

Author: 3 people

photon-client/src/components/settings/MetricsCard.vue

@@ -39,48 +39,69 @@ const generalMetrics = computed<MetricItem[]>(() => {
   return stats;
 });
 
+// @ts-expect-error This uses Intl.DurationFormat which is newly implemented and not available in TS.
+const durationFormatter = new Intl.DurationFormat("en", { style: "narrow" });
 const platformMetrics = computed<MetricItem[]>(() => {
+  const metrics = useSettingsStore().metrics;
   const stats = [
     {
       header: "CPU Temp",
-      value: useSettingsStore().metrics.cpuTemp === undefined ? "Unknown" : `${useSettingsStore().metrics.cpuTemp}°C`
+      value: metrics.cpuTemp === undefined || metrics.cpuTemp == -1 ? "Unknown" : `${metrics.cpuTemp}°C`
     },
     {
       header: "CPU Usage",
-      value: useSettingsStore().metrics.cpuUtil === undefined ? "Unknown" : `${useSettingsStore().metrics.cpuUtil}%`
+      value: metrics.cpuUtil === undefined ? "Unknown" : `${metrics.cpuUtil}%`
     },
     {
       header: "CPU Memory Usage",
       value:
-        useSettingsStore().metrics.ramUtil === undefined || useSettingsStore().metrics.cpuMem === undefined
-          ? "Unknown"
-          : `${useSettingsStore().metrics.ramUtil || "Unknown"}MB of ${useSettingsStore().metrics.cpuMem}MB`
+        metrics.ramUtil && metrics.ramMem && metrics.ramUtil >= 0 && metrics.ramMem >= 0
+          ? `${metrics.ramUtil}MB of ${metrics.ramMem}MB`
+          : "Unknown"
     },
     {
-      header: "GPU Memory Usage",
-      value:
-        useSettingsStore().metrics.gpuMemUtil === undefined || useSettingsStore().metrics.gpuMem === undefined
-          ? "Unknown"
-          : `${useSettingsStore().metrics.gpuMemUtil}MB of ${useSettingsStore().metrics.gpuMem}MB`
-    },
-    {
-      header: "CPU Throttling",
-      value: useSettingsStore().metrics.cpuThr || "Unknown"
-    },
-    {
-      header: "CPU Uptime",
-      value: useSettingsStore().metrics.cpuUptime || "Unknown"
+      header: "Uptime",
+      value: (() => {
+        const seconds = metrics.uptime;
+        if (seconds === undefined) return "Unknown";
+
+        const days = Math.floor(seconds / 86400);
+        const hours = Math.floor((seconds % 86400) / 3600);
+        const minutes = Math.floor((seconds % 3600) / 60);
+        const secs = Math.floor(seconds % 60);
+
+        return durationFormatter.format({
+          days: days,
+          hours: hours,
+          minutes: minutes,
+          seconds: secs
+        });
+      })()
     },
     {
       header: "Disk Usage",
-      value: useSettingsStore().metrics.diskUtilPct || "Unknown"
+      value: metrics.diskUtilPct === undefined ? "Unknown" : `${metrics.diskUtilPct}%`
     }
   ];
 
-  if (useSettingsStore().metrics.npuUsage) {
+  if (metrics.npuUsage && metrics.npuUsage.length > 0) {
     stats.push({
       header: "NPU Usage",
-      value: useSettingsStore().metrics.npuUsage || "Unknown"
+      value: metrics.npuUsage?.map((usage, index) => `Core${index} ${usage}%`).join(", ") || "Unknown"
+    });
+  }
+
+  if (metrics.gpuMem && metrics.gpuMemUtil && metrics.gpuMem > 0 && metrics.gpuMemUtil > 0) {
+    stats.push({
+      header: "GPU Memory Usage",
+      value: `${metrics.gpuMemUtil}MB of ${metrics.gpuMem}MB`
+    });
+  }
+
+  if (metrics.cpuThr) {
+    stats.push({
+      header: "CPU Throttling",
+      value: metrics.cpuThr.toString()
     });
   }
 

photon-client/src/stores/settings/GeneralSettingsStore.ts

@@ -56,15 +56,15 @@ export const useSettingsStore = defineStore("settings", {
     metrics: {
       cpuTemp: undefined,
       cpuUtil: undefined,
-      cpuMem: undefined,
-      gpuMem: undefined,
+      cpuThr: undefined,
+      ramMem: undefined,
       ramUtil: undefined,
+      gpuMem: undefined,
       gpuMemUtil: undefined,
-      cpuThr: undefined,
-      cpuUptime: undefined,
       diskUtilPct: undefined,
       npuUsage: undefined,
-      ipAddress: undefined
+      ipAddress: undefined,
+      uptime: undefined
     },
     currentFieldLayout: {
       field: {
@@ -90,15 +90,15 @@ export const useSettingsStore = defineStore("settings", {
       this.metrics = {
         cpuTemp: data.cpuTemp || undefined,
         cpuUtil: data.cpuUtil || undefined,
-        cpuMem: data.cpuMem || undefined,
-        gpuMem: data.gpuMem || undefined,
+        cpuThr: data.cpuThr || undefined,
+        ramMem: data.ramMem || undefined,
         ramUtil: data.ramUtil || undefined,
+        gpuMem: data.gpuMem || undefined,
         gpuMemUtil: data.gpuMemUtil || undefined,
-        cpuThr: data.cpuThr || undefined,
-        cpuUptime: data.cpuUptime || undefined,
         diskUtilPct: data.diskUtilPct || undefined,
         npuUsage: data.npuUsage || undefined,
-        ipAddress: data.ipAddress || undefined
+        ipAddress: data.ipAddress || undefined,
+        uptime: data.uptime || undefined
       };
     },
     updateGeneralSettingsFromWebsocket(data: WebsocketSettingsUpdate) {

photon-client/src/types/SettingTypes.ts

@@ -25,17 +25,17 @@ export interface ObjectDetectionModelProperties {
 }
 
 export interface MetricData {
-  cpuTemp?: string;
-  cpuUtil?: string;
-  cpuMem?: string;
-  gpuMem?: string;
-  ramUtil?: string;
-  gpuMemUtil?: string;
+  cpuTemp?: number;
+  cpuUtil?: number;
   cpuThr?: string;
-  cpuUptime?: string;
-  diskUtilPct?: string;
-  npuUsage?: string;
+  ramMem?: number;
+  ramUtil?: number;
+  gpuMem?: number;
+  gpuMemUtil?: number;
+  diskUtilPct?: number;
+  npuUsage?: number[];
   ipAddress?: string;
+  uptime?: number;
 }
 
 export enum NetworkConnectionType {

photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java

@@ -55,10 +55,12 @@ public class NetworkTablesManager {
 
     private final NetworkTableInstance ntInstance = NetworkTableInstance.getDefault();
     private final String kRootTableName = "/photonvision";
-    private final String kCoprocTableName = "coprocessors";
+    public final String kCoprocTableName = "coprocessors";
     private final String kFieldLayoutName = "apriltag_field_layout";
     public final NetworkTable kRootTable = ntInstance.getTable(kRootTableName);
 
+    // This is used to subscribe to all coprocessor tables, so we can detect conflicts
+    @SuppressWarnings("unused")
     private final MultiSubscriber sub =
             new MultiSubscriber(ntInstance, new String[] {kRootTableName + "/" + kCoprocTableName + "/"});
 

photon-core/src/main/java/org/photonvision/common/hardware/HardwareManager.java

@@ -76,6 +76,9 @@ private HardwareManager(HardwareConfig hardwareConfig, HardwareSettings hardware
         this.metricsManager = new MetricsManager();
         this.metricsManager.setConfig(hardwareConfig);
 
+        TimedTaskManager.getInstance()
+                .addTask("Metrics Publisher", this.metricsManager::publishMetrics, 5000);
+
         ledModeRequest =
                 NetworkTablesManager.getInstance()
                         .kRootTable
@@ -222,10 +225,6 @@ private void statusLEDUpdate() {
         blinkCounter++;
     }
 
-    public HardwareConfig getConfig() {
-        return hardwareConfig;
-    }
-
     public void publishMetrics() {
         metricsManager.publishMetrics();
     }

photon-core/src/main/java/org/photonvision/common/hardware/metrics/DeviceMetrics.java

@@ -0,0 +1,35 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.hardware.metrics;
+
+import org.photonvision.common.hardware.metrics.proto.DeviceMetricsProto;
+
+public record DeviceMetrics(
+        double cpuTemp,
+        double cpuUtil,
+        String cpuThr,
+        double ramMem,
+        double ramUtil,
+        double gpuMem,
+        double gpuMemUtil,
+        double diskUtilPct,
+        double[] npuUsage,
+        String ipAddress,
+        double uptime) {
+    public static final DeviceMetricsProto proto = new DeviceMetricsProto();
+}