From 60b05b8cae588a15d246110622764479396a0e66 Mon Sep 17 00:00:00 2001
From: bav6096 <benedikt.deike@informatik.uni-hamburg.de>
Date: Sat, 30 Oct 2021 01:41:06 +0200
Subject: [PATCH] updated monitor
---
CMakeLists.txt | 2 +-
msg/Metric.msg | 8 +--
msg/Monitoring.msg | 3 --
scripts/monitor.py | 121 +++++++++++++++++++-------------------------
scripts/watchdog.py | 4 ++
5 files changed, 60 insertions(+), 78 deletions(-)
delete mode 100644 msg/Monitoring.msg
diff --git a/CMakeLists.txt b/CMakeLists.txt
index a5e0db0..fe7a707 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -49,7 +49,7 @@ find_package(catkin REQUIRED COMPONENTS
## Generate messages in the 'msg' folder
add_message_files(
FILES
- Monitoring.msg
+ Metric.msg
)
## Generate services in the 'srv' folder
diff --git a/msg/Metric.msg b/msg/Metric.msg
index c583db8..8ae1810 100644
--- a/msg/Metric.msg
+++ b/msg/Metric.msg
@@ -1,4 +1,4 @@
-string key # Label of the value.
-string val # Value to track.
-string unit # Unit of the value.
-float32 err # Error level of the value.
\ No newline at end of file
+string key # Label of the value.
+string val # Value to track.
+string unit # Unit of the value.
+float32 err_lvl # Error level of the value.
\ No newline at end of file
diff --git a/msg/Monitoring.msg b/msg/Monitoring.msg
deleted file mode 100644
index 0c0d06e..0000000
--- a/msg/Monitoring.msg
+++ /dev/null
@@ -1,3 +0,0 @@
-string name # Name and origin of the monitor message.
-string desc # Text describing the monitor message.
-Metric metric # Values to monitor.
\ No newline at end of file
diff --git a/scripts/monitor.py b/scripts/monitor.py
index 2e396d2..5b78558 100755
--- a/scripts/monitor.py
+++ b/scripts/monitor.py
@@ -1,98 +1,79 @@
#!/usr/bin/env python
-import socket
import rospy
-from monitoring.msg import Monitoring
-from monitoring.msg import Metic
+from monitoring.msg import Metric
class Monitor:
- def __init__(self, desc, freq=1, auto=True):
- self.host = socket.gethostname()
- self.node = rospy.get_name()
- self.name = self.host + self.node
- self.desc = desc
+ def __init__(self, mode, freq):
+ self.log = {} # Logging dictionary. Is used to accomplish different publishing modes.
+ self.pub = rospy.Publisher('metric', Metric, queue_size=1)
+ self.mode = mode
+ self.metric = Metric()
if not freq > 0:
- print("Frequency must be greater than 0!")
- quit()
+ rospy.logwarn("Frequency must be greater then 0! Using 1 as frequency!")
+ freq = 1
- if auto:
- self.timer = rospy.Timer(rospy.Duration(1.0 / freq), self.pub_monitoring)
+ self.timer = rospy.Timer(rospy.Duration(1.0 / freq), self.publish_metric)
- self.log = {}
- self.pub = rospy.Publisher('monitoring', Monitoring, queue_size=1)
- self.pub_times = 0
+ def reset_metric(self):
+ self.metric = Metric()
- self.monitoring = Monitoring()
- self.monitoring.name = self.name
- self.monitoring.desc = self.desc
+ def publish_metric(self):
+ self.pub.publish(self.metric)
+ self.reset_metric()
- def rst_log_key(self, key):
- self.log[key] = {'num': 0, 'val': 0, 'sum': 0, 'dur': rospy.get_rostime()}
+ def update_metric(self, key, val, unit, err_lvl):
+ def set_metric():
+ self.metric.key = key
+ self.metric.val = val
+ self.metric.unit = unit
+ self.metric.err_lvl = err_lvl
+
+ 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()}
- def add_log_val(self, key, val, unit, err, mode=2):
if " " in key: # A key cannot contain whitespace!
- rospy.logwarn("[%s] whitespaces are not allowed in monitoring keys!", self.node)
+ rospy.logwarn("Whitespaces are not allowed in metric keys!")
else:
- if key in self.log:
- # Mode 1: Write the first obtained value into the
- # published message.
- if mode == 1 and self.pub_times == 0:
- self.set_metric(key, val, unit, err)
- self.pub_times = 1
+ self.reset_metric() # Reset metric.
- # Mode 2: Write the last obtained value into the
- # published message.
- elif mode == 2:
- self.set_metric(key, val, unit, err)
+ if key in self.log:
+ # Mode 1: Set the last obtained value.
+ if self.mode == 1:
+ set_metric()
- # Mode 3: Remember and write the minimum obtained
- # value, after mode selection, into the
- # published message.
- elif mode == 3:
+ # Mode 2: Remember and set the minimum value,
+ # obtained after mode selection.
+ elif self.mode == 2:
if val < self.log[key]['val']:
self.log[key]['val'] = val
+ else:
+ val = self.log[key]['val']
- self.set_metric(key, self.log[key]['val'], unit, err)
+ set_metric()
- # Mode 4: Remember and write the maximum obtained
- # value, after mode selection, into the
- # published message.
- elif mode == 4:
+ # Mode 3: Remember and set the maximum value,
+ # obtained after mode selection.
+ elif self.mode == 3:
if val > self.log[key]['val']:
self.log[key]['val'] = val
+ else:
+ val = self.log[key]['val']
- self.set_metric(key, self.log[key]['val'], unit, err)
+ set_metric()
- # Mode 5: Write the average value over five seconds
- # into the published message.
- elif mode == 5:
+ # Mode 4: Set the average obtained value over five
+ # seconds.
+ elif self.mode == 4:
dur = rospy.get_rostime() - self.log[key]['dur']
if dur < rospy.Duration(5):
- self.log[self.name][key]['num'] += 1
- self.log[self.name][key]['sum'] += val
+ self.log[key]['num'] += 1
+ self.log[key]['sum'] += val
else:
- quotient = self.log[key]['sum'] / (self.log[key]['num'] + 0.001)
- self.set_metric(key, quotient, unit, err)
- self.rst_log_key(key)
+ val = self.log[key]['sum'] / (self.log[key]['num'] + 0.001)
+ set_metric()
+ rst_key()
else:
- self.rst_log_key(key) # Add key to the logging dictionary.
- self.set_metric(key, val, unit, err)
-
- def set_metric(self, key, val, unit, err):
- metric = Metic()
- metric.key = str(key)
- metric.val = str(val)
- metric.unit = str(unit)
- metric.err = err
- self.monitoring.metric = metric
-
- def rst_monitoring(self):
- self.monitoring = Monitoring()
- self.monitoring.name = self.name
- self.monitoring.desc = self.desc
-
- def pub_monitoring(self):
- self.pub.publish(self.monitoring)
- self.rst_monitoring()
-
+ rst_key() # Add key to the logging dictionary.
+ set_metric()
diff --git a/scripts/watchdog.py b/scripts/watchdog.py
index e69de29..8c8599c 100755
--- a/scripts/watchdog.py
+++ b/scripts/watchdog.py
@@ -0,0 +1,4 @@
+#!/usr/bin/env python
+import rospy
+from monitoring.msg import Metric
+
--
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