diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7bd6a6af37b30ee1e022961eb316edcf6efb3d83..8ec28b319e13635268427408aaa1084a8813f62a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -51,6 +51,8 @@ add_message_files(
FILES
Monitoring.msg
Metric.msg
+ States.msg
+ State.msg
)
## Generate services in the 'srv' folder
@@ -161,6 +163,8 @@ include_directories(
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
catkin_install_python(PROGRAMS
+ nodes/watchdog
+ nodes/monitor_test2
nodes/monitor_test
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
diff --git a/msg/Metric.msg b/msg/Metric.msg
index 26728b16295ff91c0abd7f28d1ce2721f36f0bad..08f38888fbc42add8b521e2a666e4c7f21fa00a6 100644
--- a/msg/Metric.msg
+++ b/msg/Metric.msg
@@ -1,4 +1,5 @@
-string label # Label of the metric.
-string value # Value of the metric.
-string unit # Unit of the metric.
-float32 critical # Critical level of the metric.
\ No newline at end of file
+string component # A metric is affiliated with a roboter component.
+string label # Label of the metric.
+string value # Value of the metric.
+string unit # Unit of the metric.
+float32 critical # Critical level of the metric.
\ No newline at end of file
diff --git a/msg/Monitoring.msg b/msg/Monitoring.msg
index 4274d629d1d80b950e6489396e654c3e1be821dc..dd121ac03fa7c1399581b3e2bacd5794954d7673 100644
--- a/msg/Monitoring.msg
+++ b/msg/Monitoring.msg
@@ -1,3 +1,2 @@
-string family # Affiliation of the monitored metric.
string origin # Origin of the monitored metric.
Metric metric # Monitored metric.
\ No newline at end of file
diff --git a/msg/State.msg b/msg/State.msg
new file mode 100644
index 0000000000000000000000000000000000000000..0d2c235a8af317a531ffa9be244984e49e194967
--- /dev/null
+++ b/msg/State.msg
@@ -0,0 +1,3 @@
+string component # Name of the component, whose
+ # critical level is monitored.
+float32 critical # Critical level of the family.
\ No newline at end of file
diff --git a/msg/States.msg b/msg/States.msg
new file mode 100644
index 0000000000000000000000000000000000000000..d6705831806ee8d3908995353186638fe8aa46c5
--- /dev/null
+++ b/msg/States.msg
@@ -0,0 +1 @@
+State[] states # Array of states.
diff --git a/nodes/monitor_test b/nodes/monitor_test
index 01d669c6a008b9492c9d9abab4df56161604dcfe..50119dd5c1fa36ab26436ebfea22b84d6af0ca20 100755
--- a/nodes/monitor_test
+++ b/nodes/monitor_test
@@ -6,11 +6,11 @@ from monitoring.monitor import Monitor
def monitor_test():
rospy.init_node("monitor_test")
- monitor = Monitor(1, 1, "test")
+ monitor = Monitor(1, 1)
rate = rospy.Rate(10)
while not rospy.is_shutdown():
- monitor.update_metric("test", 10, "test", 0.5)
+ monitor.update_metric("family", "label1", 10, "unit", 0.5)
rate.sleep()
diff --git a/nodes/monitor_test2 b/nodes/monitor_test2
new file mode 100755
index 0000000000000000000000000000000000000000..663b1975c281c663a7db91fa7132a1d06a606902
--- /dev/null
+++ b/nodes/monitor_test2
@@ -0,0 +1,25 @@
+#!/usr/bin/env python
+
+import rospy
+from monitoring.monitor import Monitor
+
+
+def monitor_test():
+ rospy.init_node("monitor_test2")
+ monitor = Monitor(1, 1)
+
+ rate = rospy.Rate(10)
+ value = 0
+ while not rospy.is_shutdown():
+ monitor.update_metric("family", "label2", 10, "unit", value)
+ value = value + 0.1
+ if value > 1.0:
+ value = 0
+ rate.sleep()
+
+
+if __name__ == '__main__':
+ try:
+ monitor_test()
+ except rospy.ROSInterruptException:
+ pass
diff --git a/nodes/watchdog b/nodes/watchdog
index 24ef85bdc4a3b780ab1663b6b9567ca1f708e985..dc202143e59e3eaad87ea80eaaae29391820fd28 100755
--- a/nodes/watchdog
+++ b/nodes/watchdog
@@ -6,11 +6,10 @@ from monitoring.watchdog import Watchdog
def watchdog():
rospy.init_node("watchdog")
- watching = Watchdog(1.0)
+ watching = Watchdog(1, 1.0)
rate = rospy.Rate(10)
while not rospy.is_shutdown():
- print(watching.states)
rate.sleep()
diff --git a/src/monitoring/monitor.py b/src/monitoring/monitor.py
index 54c986a82822b97ea997a44dabd69509a5ed4ddd..307b26a2f0fbe5f5ab5d0c47651f5412ddfc51f7 100755
--- a/src/monitoring/monitor.py
+++ b/src/monitoring/monitor.py
@@ -7,7 +7,7 @@ from monitoring.msg import Metric
class Monitor:
- def __init__(self, mode=1, freq=1.0, family="generic"):
+ def __init__(self, mode=1, freq=1.0):
self.log = {} # Logging dictionary. Is used to accomplish different publishing modes.
self.pub = rospy.Publisher('monitoring', Monitoring, queue_size=1)
self.mode = mode
@@ -19,16 +19,16 @@ class Monitor:
self.timer = rospy.Timer(rospy.Duration(1.0 / freq), self.publish_monitoring)
self.monitoring = Monitoring()
- self.monitoring.family = family
self.monitoring.origin = socket.gethostname() + rospy.get_name()
# At the moment the last metric update ist published over and over.
def publish_monitoring(self, event):
self.pub.publish(self.monitoring)
- def update_metric(self, label, value, unit, critical):
+ def update_metric(self, component, label, value, unit, critical):
def set_metric():
metric = Metric()
+ metric.component = str(component)
metric.label = str(label)
metric.value = str(value)
metric.unit = str(unit)
diff --git a/src/monitoring/watchdog.py b/src/monitoring/watchdog.py
index 829d0849a602d2b1a8d7253f1ae20f735e6a6fc3..3529bfdccb4ec1b4d7cca94f089b407451b1741f 100755
--- a/src/monitoring/watchdog.py
+++ b/src/monitoring/watchdog.py
@@ -2,54 +2,70 @@
import rospy
from monitoring.msg import Monitoring
+from monitoring.msg import State
+from monitoring.msg import States
class Watchdog:
- def __init__(self, freq):
- self.states = {}
+ def __init__(self, mode=1, freq=1.0):
+ self.mode = mode
+ self.pub = rospy.Publisher('states', States, queue_size=1)
+ self.component_states = {}
self.observing = {}
if not freq > 0.0:
rospy.logwarn("Frequency must be greater then 0! Using 1 as frequency!")
freq = 1.0
- self.timer = rospy.Timer(rospy.Duration(1.0 / freq), self.update_state)
+ self.timer = rospy.Timer(rospy.Duration(1.0 / freq), self.update_states)
rospy.Subscriber("monitoring", Monitoring, self.logging)
def logging(self, monitoring):
- family = monitoring.family
origin = monitoring.origin
metric = monitoring.metric
+ component = metric.component
label = metric.label
value = metric.value
unit = metric.unit
critical = metric.critical
- if family in self.observing:
- if origin in self.observing[family]:
- self.observing[family][origin].update({label: {"value": value, "unit": unit, "critical": critical}})
+ if component in self.observing:
+ if origin in self.observing[component]:
+ self.observing[component][origin].update({label: {"value": value, "unit": unit, "critical": critical}})
else:
- self.observing[family][origin] = {}
- self.observing[family][origin][label] = {"value": value, "unit": unit, "critical": critical}
+ self.observing[component][origin] = {}
+ self.observing[component][origin][label] = {"value": value, "unit": unit, "critical": critical}
else:
- self.observing[family] = {}
- self.observing[family][origin] = {}
- self.observing[family][origin][label] = {"value": value, "unit": unit, "critical": critical}
+ self.observing[component] = {}
+ self.observing[component][origin] = {}
+ self.observing[component][origin][label] = {"value": value, "unit": unit, "critical": critical}
- def update_state(self, event):
- for family in self.observing:
- aggregation = 0
- number = 0
+ def update_states(self, event):
+ for component in self.observing:
+ # Mode 1: Take the average critical level for a component
+ if self.mode == 1:
+ aggregation = 0
+ number = 0
- for origin in self.observing[family]:
- for label in self.observing[family][origin]:
- number = number + 1
- aggregation = aggregation + self.observing[family][origin][label]["critical"]
+ for origin in self.observing[component]:
+ for label in self.observing[component][origin]:
+ number = number + 1
+ aggregation = aggregation + self.observing[component][origin][label]["critical"]
- quotient = aggregation / number
- self.states.update({family: quotient})
+ quotient = aggregation / number
+ self.component_states.update({component: quotient})
+ self.publish_states()
+ def publish_states(self):
+ topic = States()
+ for component in self.component_states:
+ state = State()
+ state.component = component
+ state.critical = self.component_states[component]
+ topic.states.append(state)
+
+ self.pub.publish(topic)