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main.cpp
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main.cpp
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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.
#include <functional>
#include <chrono>
#include <memory>
#include <string>
#include "rclcpp/rclcpp.hpp"
#include "rcutils/logging_macros.h"
#include "../../src/system_metrics_collector/linux_cpu_measurement_node.hpp"
#include "../../src/system_metrics_collector/linux_memory_measurement_node.hpp"
#include "../../src/system_metrics_collector/linux_process_memory_measurement_node.hpp"
namespace
{
constexpr const char STATISTICS_TOPIC_NAME[] = "system_metrics";
}
/**
* This is current a "test" main in order to manually test the measurement nodes.
*
* @param argc
* @param argv
* @return
*/
int main(int argc, char ** argv)
{
rclcpp::init(argc, argv);
using namespace std::chrono_literals;
const auto cpu_node = std::make_shared<system_metrics_collector::LinuxCpuMeasurementNode>(
"linuxCpuCollector",
1000ms,
STATISTICS_TOPIC_NAME,
60s);
const auto mem_node = std::make_shared<system_metrics_collector::LinuxMemoryMeasurementNode>(
"linuxMemoryCollector",
1000ms,
STATISTICS_TOPIC_NAME,
60s);
const auto process_mem_node =
std::make_shared<system_metrics_collector::LinuxProcessMemoryMeasurementNode>(
"linuxProcessMemoryCollector",
1000ms,
"not_publishing_yet",
60s);
rclcpp::executors::MultiThreadedExecutor ex;
cpu_node->start();
mem_node->start();
process_mem_node->start();
{
const auto r =
rcutils_logging_set_logger_level(cpu_node->get_name(), RCUTILS_LOG_SEVERITY_DEBUG);
if (r != 0) {
RCUTILS_LOG_ERROR_NAMED("main", "Unable to set debug logging for the cpu node: %s\n",
rcutils_get_error_string().str);
}
}
{
const auto r =
rcutils_logging_set_logger_level(mem_node->get_name(), RCUTILS_LOG_SEVERITY_DEBUG);
if (r != 0) {
RCUTILS_LOG_ERROR_NAMED("main", "Unable to set debug logging for the memory node: %s\n",
rcutils_get_error_string().str);
}
}
{
const auto r = rcutils_logging_set_logger_level(
process_mem_node->get_name(), RCUTILS_LOG_SEVERITY_DEBUG);
if (r != 0) {
RCUTILS_LOG_ERROR_NAMED("main",
"Unable to set debug logging for the process memory node: %s\n",
rcutils_get_error_string().str);
}
}
ex.add_node(cpu_node);
ex.add_node(mem_node);
ex.add_node(process_mem_node);
ex.spin();
rclcpp::shutdown();
cpu_node->stop();
mem_node->stop();
process_mem_node->stop();
return 0;
}