From edd80a9db673f8e45a88a06fda957e9e418545b3 Mon Sep 17 00:00:00 2001
From: bav6096 <benedikt.deike@informatik.uni-hamburg.de>
Date: Fri, 29 Oct 2021 22:57:07 +0200
Subject: [PATCH] added monitor class
---
msg/Metric.msg | 4 ++
msg/Monitoring.msg | 3 ++
scripts/monitor.py | 98 ++++++++++++++++++++++++++++++++++++++++++++++
3 files changed, 105 insertions(+)
create mode 100644 msg/Metric.msg
diff --git a/msg/Metric.msg b/msg/Metric.msg
new file mode 100644
index 0000000..c583db8
--- /dev/null
+++ b/msg/Metric.msg
@@ -0,0 +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
diff --git a/msg/Monitoring.msg b/msg/Monitoring.msg
index e69de29..0c0d06e 100644
--- a/msg/Monitoring.msg
+++ b/msg/Monitoring.msg
@@ -0,0 +1,3 @@
+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 e69de29..2e396d2 100755
--- a/scripts/monitor.py
+++ b/scripts/monitor.py
@@ -0,0 +1,98 @@
+#!/usr/bin/env python
+import socket
+import rospy
+from monitoring.msg import Monitoring
+from monitoring.msg import Metic
+
+
+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
+
+ if not freq > 0:
+ print("Frequency must be greater than 0!")
+ quit()
+
+ if auto:
+ self.timer = rospy.Timer(rospy.Duration(1.0 / freq), self.pub_monitoring)
+
+ self.log = {}
+ self.pub = rospy.Publisher('monitoring', Monitoring, queue_size=1)
+ self.pub_times = 0
+
+ self.monitoring = Monitoring()
+ self.monitoring.name = self.name
+ self.monitoring.desc = self.desc
+
+ def rst_log_key(self, key):
+ 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)
+ 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
+
+ # Mode 2: Write the last obtained value into the
+ # published message.
+ elif mode == 2:
+ self.set_metric(key, val, unit, err)
+
+ # Mode 3: Remember and write the minimum obtained
+ # value, after mode selection, into the
+ # published message.
+ elif mode == 3:
+ if val < self.log[key]['val']:
+ self.log[key]['val'] = val
+
+ self.set_metric(key, self.log[key]['val'], unit, err)
+
+ # Mode 4: Remember and write the maximum obtained
+ # value, after mode selection, into the
+ # published message.
+ elif mode == 4:
+ if val > self.log[key]['val']:
+ self.log[key]['val'] = val
+
+ self.set_metric(key, self.log[key]['val'], unit, err)
+
+ # Mode 5: Write the average value over five seconds
+ # into the published message.
+ elif mode == 5:
+ 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
+ else:
+ quotient = self.log[key]['sum'] / (self.log[key]['num'] + 0.001)
+ self.set_metric(key, quotient, unit, err)
+ self.rst_log_key(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()
+
--
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