From 59dcd24613b78132e44caeed07e4ed5a63784dbe Mon Sep 17 00:00:00 2001
From: bav6096 <benedikt.deike@informatik.uni-hamburg.de>
Date: Sun, 31 Oct 2021 18:52:23 +0100
Subject: [PATCH] implemented monitor and watchdog
---
CMakeLists.txt | 17 ++++----
launch/monitor_test.launch | 0
launch/watchdog.launch | 0
msg/Metric.msg | 2 +-
msg/Monitoring.msg | 3 +-
nodes/monitor_test | 21 ++++++++++
nodes/watchdog | 21 ++++++++++
scripts/watchdog.py | 15 -------
setup.py | 11 ++++++
src/monitoring/__init__.py | 0
{scripts => src/monitoring}/monitor.py | 55 ++++++++++++++------------
src/monitoring/watchdog.py | 55 ++++++++++++++++++++++++++
12 files changed, 148 insertions(+), 52 deletions(-)
create mode 100644 launch/monitor_test.launch
create mode 100644 launch/watchdog.launch
create mode 100755 nodes/monitor_test
create mode 100755 nodes/watchdog
delete mode 100755 scripts/watchdog.py
create mode 100644 setup.py
create mode 100644 src/monitoring/__init__.py
rename {scripts => src/monitoring}/monitor.py (62%)
create mode 100755 src/monitoring/watchdog.py
diff --git a/CMakeLists.txt b/CMakeLists.txt
index fe7a707..7bd6a6a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -20,7 +20,7 @@ find_package(catkin REQUIRED COMPONENTS
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
+catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
@@ -49,6 +49,7 @@ find_package(catkin REQUIRED COMPONENTS
## Generate messages in the 'msg' folder
add_message_files(
FILES
+ Monitoring.msg
Metric.msg
)
@@ -159,15 +160,15 @@ include_directories(
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
-# catkin_install_python(PROGRAMS
-# scripts/my_python_script
-# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
+catkin_install_python(PROGRAMS
+ nodes/monitor_test
+ DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
-# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
@@ -187,9 +188,7 @@ include_directories(
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
-# # myfile1
-# # myfile2
-# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
diff --git a/launch/monitor_test.launch b/launch/monitor_test.launch
new file mode 100644
index 0000000..e69de29
diff --git a/launch/watchdog.launch b/launch/watchdog.launch
new file mode 100644
index 0000000..e69de29
diff --git a/msg/Metric.msg b/msg/Metric.msg
index 15c828a..26728b1 100644
--- a/msg/Metric.msg
+++ b/msg/Metric.msg
@@ -1,4 +1,4 @@
-string key # Label of the metric.
+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 4d9d229..4274d62 100644
--- a/msg/Monitoring.msg
+++ b/msg/Monitoring.msg
@@ -1,2 +1,3 @@
-string origin # Origin of the monitoring message.
+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/nodes/monitor_test b/nodes/monitor_test
new file mode 100755
index 0000000..01d669c
--- /dev/null
+++ b/nodes/monitor_test
@@ -0,0 +1,21 @@
+#!/usr/bin/env python
+
+import rospy
+from monitoring.monitor import Monitor
+
+
+def monitor_test():
+ rospy.init_node("monitor_test")
+ monitor = Monitor(1, 1, "test")
+
+ rate = rospy.Rate(10)
+ while not rospy.is_shutdown():
+ monitor.update_metric("test", 10, "test", 0.5)
+ rate.sleep()
+
+
+if __name__ == '__main__':
+ try:
+ monitor_test()
+ except rospy.ROSInterruptException:
+ pass
diff --git a/nodes/watchdog b/nodes/watchdog
new file mode 100755
index 0000000..24ef85b
--- /dev/null
+++ b/nodes/watchdog
@@ -0,0 +1,21 @@
+#!/usr/bin/env python
+
+import rospy
+from monitoring.watchdog import Watchdog
+
+
+def watchdog():
+ rospy.init_node("watchdog")
+ watching = Watchdog(1.0)
+
+ rate = rospy.Rate(10)
+ while not rospy.is_shutdown():
+ print(watching.states)
+ rate.sleep()
+
+
+if __name__ == '__main__':
+ try:
+ watchdog()
+ except rospy.ROSInterruptException:
+ pass
diff --git a/scripts/watchdog.py b/scripts/watchdog.py
deleted file mode 100755
index 66758bd..0000000
--- a/scripts/watchdog.py
+++ /dev/null
@@ -1,15 +0,0 @@
-#!/usr/bin/env python
-import rospy
-from monitoring.msg import Metric
-
-class Watchdog:
- def __init__(self):
- self.state = 0
- self.observing = {}
- rospy.init_node("watchdog")
- rospy.Subscriber("metric", Metric, callback)
-
- def callback(self, monitoring):
-
- if monitoring.origin in self.observing:
- self.observing[metric]
\ No newline at end of file
diff --git a/setup.py b/setup.py
new file mode 100644
index 0000000..73f52d9
--- /dev/null
+++ b/setup.py
@@ -0,0 +1,11 @@
+#!/usr/bin/env python
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+setup_args = generate_distutils_setup(
+ packages=['monitoring'],
+ package_dir={'': 'src'}
+)
+
+setup(**setup_args)
diff --git a/src/monitoring/__init__.py b/src/monitoring/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/scripts/monitor.py b/src/monitoring/monitor.py
similarity index 62%
rename from scripts/monitor.py
rename to src/monitoring/monitor.py
index cb0120c..54c986a 100755
--- a/scripts/monitor.py
+++ b/src/monitoring/monitor.py
@@ -1,47 +1,50 @@
#!/usr/bin/env python
-import socket
+
import rospy
+import socket
from monitoring.msg import Monitoring
from monitoring.msg import Metric
class Monitor:
- def __init__(self, mode, freq):
+ def __init__(self, mode=1, freq=1.0, family="generic"):
self.log = {} # Logging dictionary. Is used to accomplish different publishing modes.
- self.pub = rospy.Publisher('metric', Metric, queue_size=1)
+ self.pub = rospy.Publisher('monitoring', Monitoring, queue_size=1)
self.mode = mode
- self.monitoring = Monitoring()
- self.monitoring.origin = socket.gethostname() + rospy.get_name()
- if not freq > 0:
+ if not freq > 0.0:
rospy.logwarn("Frequency must be greater then 0! Using 1 as frequency!")
- freq = 1
+ freq = 1.0
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):
+ def publish_monitoring(self, event):
self.pub.publish(self.monitoring)
- def update_metric(self, key, value, unit, critical):
+ def update_metric(self, label, value, unit, critical):
def set_metric():
metric = Metric()
- metric.key = key
- metric.value = value
- metric.unit = unit
+ metric.label = str(label)
+ metric.value = str(value)
+ metric.unit = str(unit)
metric.critical = critical
self.monitoring.metric = metric
def rst_key(): # Reset the value of a key in the logging dictionary.
- self.log[key] = {'num': 0, 'val': 0, 'sum': 0, 'dur': rospy.get_rostime()}
+ self.log[label] = {'num': 0, 'val': 0, 'sum': 0, 'dur': rospy.get_rostime()}
- if " " in key: # A key cannot contain whitespace!
- rospy.logwarn("Whitespaces are not allowed in metric keys!")
+ if " " in label: # A label cannot contain whitespace!
+ rospy.logwarn("Whitespaces are not allowed in metric labels!")
elif critical > 1 or critical < 0:
rospy.logwarn("Critical level must be between 1 and 0!")
else:
- if key in self.log:
+ if label in self.log:
# Mode 1: Set the last obtained value.
if self.mode == 1:
set_metric()
@@ -49,32 +52,32 @@ class Monitor:
# Mode 2: Remember and set the minimum value,
# obtained after mode selection.
elif self.mode == 2:
- if value < self.log[key]['val']:
- self.log[key]['val'] = value
+ if value < self.log[label]['val']:
+ self.log[label]['val'] = value
else:
- value = self.log[key]['val']
+ value = self.log[label]['val']
set_metric()
# Mode 3: Remember and set the maximum value,
# obtained after mode selection.
elif self.mode == 3:
- if value > self.log[key]['val']:
- self.log[key]['val'] = value
+ if value > self.log[label]['val']:
+ self.log[label]['val'] = value
else:
- value = self.log[key]['val']
+ value = self.log[label]['val']
set_metric()
# Mode 4: Set the average obtained value over five
# or more seconds.
elif self.mode == 4:
- duration = rospy.get_rostime() - self.log[key]['dur']
+ duration = rospy.get_rostime() - self.log[label]['dur']
if duration < rospy.Duration(5):
- self.log[key]['num'] += 1
- self.log[key]['sum'] += value
+ self.log[label]['num'] += 1
+ self.log[label]['sum'] += value
else:
- value = self.log[key]['sum'] / (self.log[key]['num'] + 0.001)
+ value = self.log[label]['sum'] / (self.log[label]['num'] + 0.001)
set_metric()
rst_key()
else:
diff --git a/src/monitoring/watchdog.py b/src/monitoring/watchdog.py
new file mode 100755
index 0000000..829d084
--- /dev/null
+++ b/src/monitoring/watchdog.py
@@ -0,0 +1,55 @@
+#!/usr/bin/env python
+
+import rospy
+from monitoring.msg import Monitoring
+
+
+class Watchdog:
+ def __init__(self, freq):
+ self.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)
+
+ rospy.Subscriber("monitoring", Monitoring, self.logging)
+
+ def logging(self, monitoring):
+ family = monitoring.family
+ origin = monitoring.origin
+ metric = monitoring.metric
+
+ 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}})
+ else:
+ self.observing[family][origin] = {}
+ self.observing[family][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}
+
+ def update_state(self, event):
+ for family in self.observing:
+ 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"]
+
+ quotient = aggregation / number
+ self.states.update({family: quotient})
+
+
+
--
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