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‎.github/workflows/main.yml‎

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on: [push, pull_request]
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defaults:
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run:
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shell: bash
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jobs:
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jammy_ccws_static:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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with:
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repository: asherikov/ccws
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- uses: actions/checkout@v4
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with:
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path: src/graphite_to_mcap
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- run: make bp_install_build BUILD_PROFILE=scan_build
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- run: make bp_install_build BUILD_PROFILE=static_checks
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- run: mkdir -p src/.ccws
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- run: echo "graphite_to_mcap/src/3rdparty/" >> src/.ccws/static_checks.exceptions.paths
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- run: make BUILD_PROFILE=static_checks
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- run: make dep_install PKG=graphite_to_mcap
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- run: make graphite_to_mcap BUILD_PROFILE=scan_build
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jammy_ccws_plain_22:
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runs-on: ubuntu-22.04
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steps:
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- uses: actions/checkout@v4
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with:
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repository: asherikov/ccws
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- uses: actions/checkout@v4
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with:
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path: src/graphite_to_mcap
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- run: make bp_install_build BUILD_PROFILE=reldebug
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- run: make dep_install PKG=graphite_to_mcap
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- run: make graphite_to_mcap
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- run: make test PKG=graphite_to_mcap
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jammy_ccws_plain_24:
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runs-on: ubuntu-24.04
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steps:
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- uses: actions/checkout@v4
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with:
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repository: asherikov/ccws
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- uses: actions/checkout@v4
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with:
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path: src/graphite_to_mcap
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- run: make bp_install_build BUILD_PROFILE=reldebug
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- run: make dep_install PKG=graphite_to_mcap
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- run: make graphite_to_mcap
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- run: make test PKG=graphite_to_mcap
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jammy_ccws_threadsan:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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with:
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repository: asherikov/ccws
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- uses: actions/checkout@v4
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with:
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path: src/graphite_to_mcap
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- run: make bp_install_build BUILD_PROFILE=thread_sanitizer
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- run: make dep_install PKG=graphite_to_mcap
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- run: make graphite_to_mcap BUILD_PROFILE=thread_sanitizer
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- run: make test PKG=graphite_to_mcap BUILD_PROFILE=thread_sanitizer
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jammy_ccws_asan:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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with:
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repository: asherikov/ccws
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- uses: actions/checkout@v4
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with:
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path: src/graphite_to_mcap
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- run: make bp_install_build BUILD_PROFILE=addr_undef_sanitizers
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- run: make dep_install PKG=graphite_to_mcap
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- run: make graphite_to_mcap BUILD_PROFILE=addr_undef_sanitizers
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- run: make test PKG=graphite_to_mcap BUILD_PROFILE=addr_undef_sanitizers

‎CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.8)
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project(graphite_to_mcap VERSION 0.1.0 LANGUAGES CXX)
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# -Wno-error=tsan
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# /usr/include/boost/asio/detail/std_fenced_block.hpp:46:29:
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# ‘atomic_thread_fence’ is not supported with ‘-fsanitize=thread’ [-Werror=tsan]
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if(CCWS_CXX_FLAGS)
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set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CCWS_CXX_FLAGS} -Wno-error=tsan")
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set (CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${CCWS_LINKER_FLAGS}")
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else()
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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set(CMAKE_VERBOSE_MAKEFILE ON)
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic -Werror -Wno-error=tsan)
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endif()
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endif()
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set(CMAKE_CXX_VISIBILITY_PRESET hidden)
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set(CMAKE_VISIBILITY_INLINES_HIDDEN hidden)
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find_package(Boost COMPONENTS headers REQUIRED)
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add_subdirectory(src/3rdparty/)
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if(CCWS_CLANG_TIDY)
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set(CMAKE_CXX_CLANG_TIDY "${CCWS_CLANG_TIDY}" CACHE STRING "" FORCE)
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endif()
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add_executable(${PROJECT_NAME}
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src/graphite_to_mcap.cpp
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)
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target_link_libraries(${PROJECT_NAME}
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"${Boost_LIBRARIES}"
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fastcdr
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)
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target_include_directories(${PROJECT_NAME}
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SYSTEM
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PRIVATE src/3rdparty/mcap/cpp/mcap/include/
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PRIVATE src/3rdparty/mcap/cpp/mcap/include/mcap
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PRIVATE src/3rdparty/generated/
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)
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install(TARGETS ${PROJECT_NAME}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)

‎README.md‎

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`graphite_to_mcap`
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------------------
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Simple system staticistics collection utility, which accepts data in Graphite
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format (`<name> <value> <timestamp>`) and logs it to MCAP files.
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- Input data:
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- Graphite format
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<https://graphite.readthedocs.io/en/latest/feeding-carbon.html#the-plaintext-protocol>
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is supported by many utilities, e.g.,
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<https://graphite.readthedocs.io/en/latest/tools.html>, but this tool is
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mainly intended to work with `collectd` <https://collectd.org/>.
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- Disable recommended packages when installing `collectd` in Ubuntu:
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otherwise it pulls too much junk, including Java.
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- `collectd` reports CPU usage in microseconds, percentage can be obtained
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by dividing the value by sampling interval and multiplying by 100. See
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https://github.com/collectd/collectd/issues/1633 and
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https://github.com/collectd/collectd/issues/2862.
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- Output data:
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- MCAP <https://mcap.dev/> is handy for storing and analysing data, e.g.,
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with PlotJuggler <https://plotjuggler.io/>.
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- Data is wrapped in `plotjuggler_msgs`, but all corresponding dependencies
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are compiled in and there are no build or runtime dependencies on ROS.

‎examples/collectd.conf‎

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Hostname "s"
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FQDNLookup false
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AutoLoadPlugin true
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Interval 1
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<Plugin syslog>
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LogLevel info
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</Plugin>
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<Plugin cpu>
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ReportByCpu false
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ReportByState true
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ValuesPercentage true
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</Plugin>
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<Plugin df>
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# ignore rootfs; else, the root file-system would appear twice, causing
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# one of the updates to fail and spam the log
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FSType rootfs
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# ignore the usual virtual / temporary file-systems
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FSType sysfs
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FSType proc
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FSType devtmpfs
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FSType devpts
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FSType tmpfs
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FSType fusectl
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FSType cgroup
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FSType squashfs
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IgnoreSelected true
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ValuesAbsolute true
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ValuesPercentage true
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</Plugin>
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<Plugin interface>
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</Plugin>
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<Plugin memory>
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ValuesAbsolute true
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ValuesPercentage false
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</Plugin>
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<Plugin processes>
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# ProcessMatch *must* be used if the name length >= 15 chars
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ProcessMatch "collectd" ".*collectd.*"
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</Plugin>
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<Plugin sensors>
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UseLabels true
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</Plugin>
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<Plugin uptime>
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</Plugin>
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<Plugin write_graphite>
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<Node "example">
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Host "localhost"
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Port "2003"
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Protocol "tcp"
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ReconnectInterval 0
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LogSendErrors true
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Prefix ""
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Postfix ""
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StoreRates true
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AlwaysAppendDS false
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EscapeCharacter "_"
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SeparateInstances true
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PreserveSeparator true
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DropDuplicateFields false
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</Node>
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</Plugin>
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<Include "/etc/collectd/collectd.conf.d">
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Filter "*.conf"
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</Include>

‎package.xml‎

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<?xml version="1.0"?>
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<package format="2">
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<name>graphite_to_mcap</name>
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<version>0.1.0</version>
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<description>System statistics logger</description>
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<maintainer email="asherikov@yandex.com">Alexander Sherikov</maintainer>
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<license>Apache 2.0</license>
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<export>
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<build_type>cmake</build_type>
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</export>
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<buildtool_depend>cmake</buildtool_depend>
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<build_depend>libboost-dev</build_depend>
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<exec_depend>collectd</exec_depend>
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</package>

‎src/3rdparty/CMakeLists.txt‎

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add_subdirectory(fastcdr EXCLUDE_FROM_ALL)
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get_target_property(INTROMETRY_PJMSG_MCAP_FASTCDR_INCLUDES fastcdr INTERFACE_INCLUDE_DIRECTORIES)
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set_target_properties(fastcdr
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PROPERTIES INTERFACE_SYSTEM_INCLUDE_DIRECTORIES "${INTROMETRY_PJMSG_MCAP_FASTCDR_INCLUDES}")

‎src/3rdparty/CMakeLists.txt.fastcdr‎

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# Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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###############################################################################
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# CMake build rules for FastCDR #
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###############################################################################
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cmake_minimum_required(VERSION 3.20)
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###############################################################################
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# Project #
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###############################################################################
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project(fastcdr VERSION 2.2.6 LANGUAGES CXX)
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set(PROJECT_NAME_STYLED "FastCDR")
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set(PROJECT_NAME_LARGE "Fast CDR")
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string(TOUPPER "${PROJECT_NAME}" PROJECT_NAME_UPPER)
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set(${PROJECT_NAME}_DESCRIPTION_SUMMARY "C++ library for serialize using CDR serialization")
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set(${PROJECT_NAME}_DESCRIPTION "eProsima ${PROJECT_NAME_LARGE} library provides two serialization mechanisms. One is the standard CDR serialization mechanism, while the other is a faster implementation that modifies the standard.")
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message(STATUS "Configuring ${PROJECT_NAME_LARGE}")
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message(STATUS "Version: ${PROJECT_VERSION}")
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###############################################################################
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# Default shared libraries
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###############################################################################
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# Global flag to cause add_library() to create shared libraries if on.
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# If set to true, this will cause all libraries to be built shared
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# unless the library was explicitly added as a static library.
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option(BUILD_SHARED_LIBS "Create shared libraries by default" OFF)
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###############################################################################
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# Test system configuration
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###############################################################################
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include(${PROJECT_SOURCE_DIR}/cmake/common/check_configuration.cmake)
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set(FORCE_CXX "11" CACHE STRING "C++ standard fulfillment selection")
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check_stdcxx(${FORCE_CXX})
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check_endianness()
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check_type_sizes()
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###############################################################################
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# Installation paths
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###############################################################################
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set(CMAKE_INSTALL_PREFIX "${CMAKE_CURRENT_BINARY_DIR}/fastcdr")
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set(BIN_INSTALL_DIR bin/ CACHE PATH "Installation directory for binaries")
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set(_include_dir "include/")
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if(APPEND_PROJECT_NAME_TO_INCLUDEDIR)
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string(APPEND _include_dir "${PROJECT_NAME}/")
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endif()
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set(INCLUDE_INSTALL_DIR "${_include_dir}" CACHE PATH "Installation directory for C++ headers")
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unset(_include_dir)
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set(LIB_INSTALL_DIR lib${LIB_SUFFIX}/ CACHE PATH "Installation directory for libraries")
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set(DATA_INSTALL_DIR share/ CACHE PATH "Installation directory for data")
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if(WIN32)
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set(DOC_DIR "doc")
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else()
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set(DOC_DIR "${DATA_INSTALL_DIR}/doc")
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endif()
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set(DOC_INSTALL_DIR ${DOC_DIR} CACHE PATH "Installation directory for documentation")
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set(LICENSE_INSTALL_DIR ${DATA_INSTALL_DIR}/${PROJECT_NAME} CACHE PATH "Installation directory for licenses")
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###############################################################################
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# Compile library.
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###############################################################################
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add_subdirectory(src/cpp)
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