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linux_process_cpu_measurement_node.hpp
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linux_process_cpu_measurement_node.hpp
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// Copyright 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef SYSTEM_METRICS_COLLECTOR__LINUX_PROCESS_CPU_MEASUREMENT_NODE_HPP_
#define SYSTEM_METRICS_COLLECTOR__LINUX_PROCESS_CPU_MEASUREMENT_NODE_HPP_
#include <chrono>
#include <cmath>
#include <string>
#include <tuple>
#include "periodic_measurement_node.hpp"
#include "proc_cpu_data.hpp"
#include "utilities.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rcutils/logging_macros.h"
namespace system_metrics_collector
{
/**
* Measures the CPU percentage used by the process.
*/
class LinuxProcessCpuMeasurementNode : public PeriodicMeasurementNode
{
public:
/**
* Constructs a LinuxProcessCpuMeasurementNode.
*
* @param name the name of this node
* @param measurement_period the period of this node, used to read measurements
* @param topic the topic name used for publishing
* @param publish_period the period at which metrics are published.
*/
LinuxProcessCpuMeasurementNode(
const std::string & name,
const std::chrono::milliseconds measurement_period,
const std::string & topic,
const std::chrono::milliseconds publish_period);
protected:
/**
* Creates ROS2 timers and a publisher for periodically triggering measurements and publishing
* MetricsMessages.
* This function needs to be overridden because this class needs to also reset last_measurement_
* on every start or restart in addition to what is done by PeriodicMeasurementNode.
*
* @return if setup was successful
*/
bool SetupStart() override;
/**
* Performs a periodic measurement and calculation of the percentage of CPU this process used.
* This obtains measurements from clock_gettime() to obtain process-specific and system-wide CPU
* used.
*
* @return percentage of CPU this process used
*/
double PeriodicMeasurement() override;
/**
* Returns the name to use for this metric.
*
* @return a string of the name for this measured metric
*/
std::string GetMetricName() const override;
private:
/**
* The pid of this process.
*/
const std::string metric_name_;
/**
* The cached processa and system measurements used in order to perform the CPU active percentage.
*/
ProcPidCpuData last_measurement_;
};
} // namespace system_metrics_collector
#endif // SYSTEM_METRICS_COLLECTOR__LINUX_PROCESS_CPU_MEASUREMENT_NODE_HPP_