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Port hd_monitor to ROS2 (#334)
* Port hd_monitor.py * Adapt documentation and CMakeList to new hd_monitor.py * Fix execution flag of hd_monitor * Add launch test for hd_monitor * Implement low and crit parameters in hd_monitor * Improve hd_monitor code quality
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‎diagnostic_common_diagnostics/CMakeLists.txt‎

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@@ -12,6 +12,7 @@ install(PROGRAMS
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${PROJECT_NAME}/ntp_monitor.py
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${PROJECT_NAME}/ram_monitor.py
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${PROJECT_NAME}/sensors_monitor.py
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${PROJECT_NAME}/hd_monitor.py
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DESTINATION lib/${PROJECT_NAME}
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)
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test/systemtest/test_ntp_monitor_launchtest.py
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TARGET ntp_monitor_launchtest
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TIMEOUT 20)
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add_launch_test(
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test/systemtest/test_hd_monitor_launchtest.py
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TARGET hd_monitor_launchtest
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TIMEOUT 20)
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endif()
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ament_package()

‎diagnostic_common_diagnostics/README.md‎

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@@ -67,7 +67,20 @@ Computer name in diagnostics output (ex: 'c1')
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Disable self test.
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## hd_monitor.py
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**To be ported**
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Runs 'shutil.disk_usage' to check if there is enough space left on a given device.
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* Above 5% of free space left, an `OK` status will be published.
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* Between 5% and 1%, a `WARN` status will be published,
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* Below 1%, an `ERROR` status will be published.
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### Published Topics
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#### /diagnostics
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diagnostic_msgs/DiagnosticArray
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The diagnostics information.
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### Parameters
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#### path
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(default: home directory "~")
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Path in which to check remaining space.
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## ram_monitor.py
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The `ram_monitor` module allows users to monitor the RAM usage of their system in real-time.

‎diagnostic_common_diagnostics/diagnostic_common_diagnostics/hd_monitor.py‎

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#! /usr/bin/env python3
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"""Hard Drive (or any other memory) monitor. Contains a the monitor node and its main function."""
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# -*- coding: utf-8 -*-
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#
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# Software License Agreement (BSD License)
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#
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# Copyright (c) 2009, Willow Garage, Inc.
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# * Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# * Redistributions in binary form must reproduce the above
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# copyright notice, this list of conditions and the following
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# disclaimer in the documentation and/or other materials provided
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# with the distribution.
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# * Neither the name of the Willow Garage nor the names of its
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# contributors may be used to endorse or promote products derived
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# from this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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# \author Kevin Watts
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# \author Antoine Lima
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from pathlib import Path
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from shutil import disk_usage
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from socket import gethostname
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from typing import List
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from diagnostic_msgs.msg import DiagnosticStatus, KeyValue
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from diagnostic_updater import Updater
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from rcl_interfaces.msg import SetParametersResult
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import rclpy
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from rclpy.node import Node
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FREE_PERCENT_LOW = 0.05
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FREE_PERCENT_CRIT = 0.01
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DICT_STATUS = {
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DiagnosticStatus.OK: 'OK',
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DiagnosticStatus.WARN: 'Warning',
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DiagnosticStatus.ERROR: 'Error',
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}
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DICT_USAGE = {
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DiagnosticStatus.OK: 'OK',
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DiagnosticStatus.WARN: 'Low Disk Space',
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DiagnosticStatus.ERROR: 'Very Low Disk Space',
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}
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class HDMonitor(Node):
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"""Diagnostic node checking the remaining space on the specified hard drive.
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Three ROS parameters:
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- path: Path on the filesystem to check (string, default: home directory)
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- free_percent_low: Percentage at which to consider the space left as low
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- free_percent_crit: Percentage at which to consider the space left as critical
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"""
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def __init__(self):
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hostname = gethostname().replace('.', '_').replace('-', '_')
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super().__init__(f'hd_monitor_{hostname}')
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self._path = '~'
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self._free_percent_low = 0.05
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self._free_percent_crit = 0.01
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self.add_on_set_parameters_callback(self.callback_config)
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self.declare_parameter('path', self._path)
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self.declare_parameter('free_percent_low', self._free_percent_low)
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self.declare_parameter('free_percent_crit', self._free_percent_crit)
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self._updater = Updater(self)
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self._updater.setHardwareID(hostname)
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self._updater.add(f'{hostname} HD Usage', self.check_disk_usage)
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def callback_config(self, params: List[rclpy.Parameter]):
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"""Retrieve ROS parameters.
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see the class documentation for declared parameters.
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"""
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for param in params:
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match param.name:
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case 'path':
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self._path = str(
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Path(param.value).expanduser().resolve(strict=True)
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)
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case 'free_percent_low':
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self._free_percent_low = param.value
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case 'free_percent_crit':
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self._free_percent_crit = param.value
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return SetParametersResult(successful=True)
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def check_disk_usage(self, diag: DiagnosticStatus) -> DiagnosticStatus:
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"""Compute the disk usage and derive a status from it.
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Task periodically ran by the diagnostic updater.
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"""
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diag.level = DiagnosticStatus.OK
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total, _, free = disk_usage(self._path)
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percent = free / total
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if percent > self._free_percent_low:
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diag.level = DiagnosticStatus.OK
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elif percent > self._free_percent_crit:
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diag.level = DiagnosticStatus.WARN
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else:
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diag.level = DiagnosticStatus.ERROR
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total_go = total // (1024 * 1024)
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diag.values.extend(
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[
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KeyValue(key='Name', value=self._path),
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KeyValue(key='Status', value=DICT_STATUS[diag.level]),
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KeyValue(key='Total (Go)', value=str(total_go)),
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KeyValue(key='Available (%)', value=str(round(percent, 2))),
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]
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)
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diag.message = DICT_USAGE[diag.level]
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return diag
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def main(args=None):
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"""Run the HDMonitor class."""
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rclpy.init(args=args)
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node = HDMonitor()
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try:
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rclpy.spin(node)
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except KeyboardInterrupt:
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pass
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if __name__ == '__main__':
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main()

‎diagnostic_common_diagnostics/mainpage.dox‎

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\b diagnostic_common_diagnostics contains a few common diagnostic nodes
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- cpu_monitor publishes diagnostic messages with the CPU usage of the system.
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- hd_monitor publishes diagnostic messages related to the available space on a given storage device.
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- ntp_monitor publishes diagnostic messages for how well the NTP time sync is working.
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- tf_monitor used to publish diagnostic messages reporting on the health of
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the TF tree. It is based on tfwtf. It is not ported to ROS2.

‎diagnostic_common_diagnostics/test/systemtest/test_hd_monitor_launchtest.py‎

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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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# Software License Agreement (BSD License)
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#
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# Copyright (c) 2023, Robert Bosch GmbH
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# * Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# * Redistributions in binary form must reproduce the above
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# copyright notice, this list of conditions and the following
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# disclaimer in the documentation and/or other materials provided
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# with the distribution.
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# * Neither the name of the Willow Garage nor the names of its
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# contributors may be used to endorse or promote products derived
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# from this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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import unittest
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from diagnostic_msgs.msg import DiagnosticArray
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import launch
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import launch_ros
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import launch_testing
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from launch_testing_ros import WaitForTopics
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import pytest
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import rclpy
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@pytest.mark.launch_test
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def generate_test_description():
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"""Launch the hd_monitor node and return a launch description."""
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return launch.LaunchDescription(
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[
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launch_ros.actions.Node(
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package='diagnostic_common_diagnostics',
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executable='hd_monitor.py',
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name='hd_monitor',
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output='screen',
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parameters=[{'free_percent_low': 0.20, 'free_percent_crit': 0.05}],
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),
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launch_testing.actions.ReadyToTest(),
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]
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)
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class TestHDMonitor(unittest.TestCase):
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"""Test if the hd_monitor node is publishing diagnostics."""
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def __init__(self, methodName: str = 'runTest') -> None:
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super().__init__(methodName)
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self.received_messages = []
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def _received_message(self, msg):
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self.received_messages.append(msg)
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def _get_min_level(self):
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levels = [
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int.from_bytes(status.level, 'little')
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for diag in self.received_messages
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for status in diag.status
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]
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if len(levels) == 0:
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return -1
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return min(levels)
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def test_topic_published(self):
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"""Test if the hd_monitor node is publishing diagnostics."""
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with WaitForTopics([('/diagnostics', DiagnosticArray)], timeout=5):
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print('Topic found')
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rclpy.init()
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test_node = rclpy.create_node('test_node')
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test_node.create_subscription(
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DiagnosticArray, '/diagnostics', self._received_message, 1
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)
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while len(self.received_messages) < 10:
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rclpy.spin_once(test_node, timeout_sec=1)
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if (min_level := self._get_min_level()) == 0:
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break
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test_node.destroy_node()
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rclpy.shutdown()
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print(f'Got {len(self.received_messages)} messages:')
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for msg in self.received_messages:
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print(msg)
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self.assertEqual(min_level, 0)

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