Create libstatistics_collector package

statistics_collector_lib/CMakeLists.txt

@@ -0,0 +1,96 @@
+cmake_minimum_required(VERSION 3.5)
+project(statistics_collector_lib)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+# Enable strict compiler flags if possible.
+include(CheckCXXCompilerFlag)
+set(FLAGS -pedantic -Wno-long-long -Wall -Wextra -Wcast-qual -Wformat -Wwrite-strings -Wcast-align
+  -Wno-error=cast-align -Wmissing-declarations)
+foreach(FLAG ${FLAGS})
+  check_cxx_compiler_flag(${FLAG} R${FLAG})
+  if(${R${FLAG}})
+    set(WARNING_CXX_FLAGS "${WARNING_CXX_FLAGS} ${FLAG}")
+  endif()
+endforeach()
+
+if(WIN32)
+  add_definitions(-DNOMINMAX)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rcl REQUIRED)
+find_package(rcpputils REQUIRED)
+
+include_directories(include)
+
+add_library(${PROJECT_NAME} SHARED
+  src/moving_average_statistics/moving_average.cpp
+  src/moving_average_statistics/types.cpp
+  src/collector/collector.cpp
+)
+
+ament_target_dependencies(${PROJECT_NAME}
+  rcl
+  rcpputils)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  find_package(ament_cmake_gtest REQUIRED)
+
+  ament_lint_auto_find_test_dependencies()
+
+  ament_add_gtest(test_collector
+    test/collector/test_collector.cpp)
+  target_link_libraries(test_collector ${PROJECT_NAME})
+  ament_target_dependencies(test_collector rcpputils)
+
+  ament_add_gtest(test_moving_average_statistics
+    test/moving_average_statistics/test_moving_average_statistics.cpp)
+  target_link_libraries(test_moving_average_statistics ${PROJECT_NAME})
+
+
+  ament_add_gtest(test_received_message_period
+    test/topic_statistics_collector/test_received_message_period.cpp)
+  target_link_libraries(test_received_message_period ${PROJECT_NAME})
+  ament_target_dependencies(test_received_message_period rcl rcpputils)
+
+  ament_add_gtest(test_received_message_age
+    test/topic_statistics_collector/test_received_message_age.cpp)
+  target_link_libraries(test_received_message_age ${PROJECT_NAME})
+  ament_target_dependencies(test_received_message_age rcl rcpputils std_msgs sensor_msgs)
+endif()
+
+install(
+  TARGETS "${PROJECT_NAME}"
+  EXPORT "${PROJECT_NAME}-targets"
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME})
+ament_export_dependencies(rcl)
+ament_export_dependencies(rcpputils)
+
+ament_package()
+
+export(TARGETS ${PROJECT_NAME}
+  FILE "${PROJECT_BINARY_DIR}/${PROJECT_NAME}-targets.cmake")
+export(PACKAGE ${PROJECT_NAME})

system_metrics_collector/src/system_metrics_collector/collector.hpp → statistics_collector_lib/include/collector/collector.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef SYSTEM_METRICS_COLLECTOR__COLLECTOR_HPP_
-#define SYSTEM_METRICS_COLLECTOR__COLLECTOR_HPP_
+#ifndef COLLECTOR__COLLECTOR_HPP_
+#define COLLECTOR__COLLECTOR_HPP_
 
 #include <mutex>
 #include <string>
@@ -24,7 +24,7 @@
 
 #include "rcpputils/thread_safety_annotations.hpp"
 
-namespace system_metrics_collector
+namespace collector
 {
 
 /**
@@ -114,6 +114,6 @@ class Collector : public MetricDetailsInterface
   bool started_{false} RCPPUTILS_TSA_GUARDED_BY(mutex_);
 };
 
-}  // namespace system_metrics_collector
+}  // namespace collector
 
-#endif  // SYSTEM_METRICS_COLLECTOR__COLLECTOR_HPP_
+#endif  // COLLECTOR__COLLECTOR_HPP_

statistics_collector_lib/include/collector/metric_details_interface.hpp

@@ -0,0 +1,49 @@
+// Copyright 2020 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 COLLECTOR__METRIC_DETAILS_INTERFACE_HPP_
+#define COLLECTOR__METRIC_DETAILS_INTERFACE_HPP_
+
+#include <string>
+
+namespace collector
+{
+/**
+ * Interface to represent a single metric's name and unit,
+ * which are used for metric message generation and publication.
+ */
+
+class MetricDetailsInterface
+{
+public:
+  virtual ~MetricDetailsInterface() = default;
+
+  /**
+   * Return a single metric's name.
+   *
+   * @return a string representing the metric name
+   */
+  virtual std::string GetMetricName() const = 0;
+
+  /**
+   * Return a single metric's measurement unit.
+   *
+   * @return a string representing the metric unit
+   */
+  virtual std::string GetMetricUnit() const = 0;
+};
+
+}  // namespace collector
+
+#endif  // COLLECTOR__METRIC_DETAILS_INTERFACE_HPP_

system_metrics_collector/src/topic_statistics_collector/received_message_age.hpp → statistics_collector_lib/include/topic_statistics_collector/received_message_age.hpp

@@ -111,7 +111,7 @@ class ReceivedMessageAgeCollector : public TopicStatisticsCollector<T>
         const std::chrono::nanoseconds age_nanos{now_nanoseconds - timestamp_from_header.second};
         const auto age_millis = std::chrono::duration_cast<std::chrono::milliseconds>(age_nanos);
 
-        system_metrics_collector::Collector::AcceptData(static_cast<double>(age_millis.count()));
+        collector::Collector::AcceptData(static_cast<double>(age_millis.count()));
       }  // else no valid time to compute age
     }
   }

system_metrics_collector/src/topic_statistics_collector/received_message_period.hpp → statistics_collector_lib/include/topic_statistics_collector/received_message_period.hpp

@@ -21,7 +21,6 @@
 
 #include "constants.hpp"
 #include "topic_statistics_collector.hpp"
-#include "system_metrics_collector/collector.hpp"
 
 #include "rcl/time.h"
 
@@ -69,7 +68,7 @@ class ReceivedMessagePeriodCollector : public TopicStatisticsCollector<T>
       const std::chrono::nanoseconds nanos{now_nanoseconds - time_last_message_received_};
       const auto period = std::chrono::duration_cast<std::chrono::milliseconds>(nanos);
       time_last_message_received_ = now_nanoseconds;
-      system_metrics_collector::Collector::AcceptData(static_cast<double>(period.count()));
+      collector::Collector::AcceptData(static_cast<double>(period.count()));
     }
   }
 

system_metrics_collector/src/topic_statistics_collector/topic_statistics_collector.hpp → statistics_collector_lib/include/topic_statistics_collector/topic_statistics_collector.hpp

@@ -21,7 +21,7 @@
 
 #include "rcl/time.h"
 
-#include "system_metrics_collector/collector.hpp"
+#include "collector/collector.hpp"
 
 namespace topic_statistics_collector
 {
@@ -31,7 +31,7 @@ namespace topic_statistics_collector
  * @tparam T the ROS2 message type to collect
  */
 template<typename T>
-class TopicStatisticsCollector : public system_metrics_collector::Collector
+class TopicStatisticsCollector : public collector::Collector
 {
 public:
   TopicStatisticsCollector() = default;

statistics_collector_lib/package.xml

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>statistics_collector_lib</name>
+  <version>0.0.0</version>
+  <description>Lightweight aggregation utilities to collect statistics and measure message metrics.</description>
+  <maintainer email="ros-tooling@googlegroups.com">ROS Tooling Working Group</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rcl</depend>
+  <depend>rcpputils</depend>
+
+  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <test_depend>sensor_msgs</test_depend>
+  <test_depend>std_msgs</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

system_metrics_collector/src/system_metrics_collector/collector.cpp → statistics_collector_lib/src/collector/collector.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "collector.hpp"
+#include "collector/collector.hpp"
 
 #include <mutex>
 #include <sstream>
@@ -21,7 +21,7 @@
 #include "moving_average_statistics/moving_average.hpp"
 #include "moving_average_statistics/types.hpp"
 
-namespace system_metrics_collector
+namespace collector
 {
 
 bool Collector::Start()
@@ -79,4 +79,4 @@ std::string Collector::GetStatusString() const
   return ss.str();
 }
 
-}  // namespace system_metrics_collector
+}  // namespace collector

system_metrics_collector/src/moving_average_statistics/moving_average.cpp → statistics_collector_lib/src/moving_average_statistics/moving_average.cpp

@@ -21,8 +21,8 @@
 #include <numeric>
 #include <type_traits>
 
-#include "moving_average.hpp"
-#include "types.hpp"
+#include "moving_average_statistics/moving_average.hpp"
+#include "moving_average_statistics/types.hpp"
 
 namespace moving_average_statistics
 {

system_metrics_collector/src/moving_average_statistics/types.cpp → statistics_collector_lib/src/moving_average_statistics/types.cpp

@@ -15,7 +15,7 @@
 #include <sstream>
 #include <string>
 
-#include "types.hpp"
+#include "moving_average_statistics/types.hpp"
 
 namespace moving_average_statistics
 {

system_metrics_collector/test/system_metrics_collector/test_collector.cpp → statistics_collector_lib/test/collector/test_collector.cpp

@@ -20,7 +20,7 @@
 
 #include "moving_average_statistics/types.hpp"
 
-#include "system_metrics_collector/collector.hpp"
+#include "collector/collector.hpp"
 
 namespace
 {
@@ -31,7 +31,7 @@ constexpr const char kTestMetricUnit[] = "test_metric_unit";
 /**
  * Simple extension to test basic functionality
  */
-class TestCollector : public system_metrics_collector::Collector
+class TestCollector : public collector::Collector
 {
 public:
   TestCollector() = default;

system_metrics_collector/CMakeLists.txt

@@ -28,6 +28,7 @@ endif()
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
+find_package(statistics_collector_lib REQUIRED)
 find_package(message_filters REQUIRED)
 find_package(metrics_statistics_msgs REQUIRED)
 find_package(rcl REQUIRED)
@@ -42,11 +43,7 @@ find_package(std_msgs REQUIRED)
 include_directories(src)
 
 add_library(system_metrics_collector SHARED
-  src/moving_average_statistics/moving_average.cpp
-  src/moving_average_statistics/types.cpp
-  src/moving_average_statistics/types.hpp
   src/system_metrics_collector/metrics_message_publisher.cpp
-  src/system_metrics_collector/collector.cpp
   src/system_metrics_collector/linux_cpu_measurement_node.cpp
   src/system_metrics_collector/linux_memory_measurement_node.cpp
   src/system_metrics_collector/linux_process_cpu_measurement_node.cpp
@@ -57,6 +54,7 @@ add_library(system_metrics_collector SHARED
   src/system_metrics_collector/utilities.cpp
 )
 ament_target_dependencies(system_metrics_collector
+        statistics_collector_lib
         message_filters
         metrics_statistics_msgs
         rcl
@@ -91,11 +89,6 @@ if(BUILD_TESTING)
 
   ament_lint_auto_find_test_dependencies()
 
-  ament_add_gtest(test_collector
-    test/system_metrics_collector/test_collector.cpp)
-  target_link_libraries(test_collector system_metrics_collector)
-  ament_target_dependencies(test_collector rclcpp)
-
   ament_add_gtest(test_metrics_message_publisher
     test/system_metrics_collector/test_metrics_message_publisher.cpp)
   target_link_libraries(test_metrics_message_publisher system_metrics_collector)
@@ -121,11 +114,6 @@ if(BUILD_TESTING)
   target_link_libraries(test_linux_process_memory_measurement_node system_metrics_collector)
   ament_target_dependencies(test_linux_process_memory_measurement_node lifecycle_msgs metrics_statistics_msgs rclcpp)
 
-  ament_add_gtest(test_moving_average_statistics
-          test/moving_average_statistics/test_moving_average_statistics.cpp)
-  target_link_libraries(test_moving_average_statistics system_metrics_collector)
-  ament_target_dependencies(test_moving_average_statistics rclcpp)
-
   ament_add_gtest(test_periodic_measurement_node
     test/system_metrics_collector/test_periodic_measurement_node.cpp)
   target_link_libraries(test_periodic_measurement_node system_metrics_collector)
@@ -139,37 +127,6 @@ if(BUILD_TESTING)
           test/system_metrics_collector/test_utilities.cpp)
   target_link_libraries(test_utilities system_metrics_collector)
   ament_target_dependencies(test_utilities rclcpp)
-
-  ament_add_gtest(test_received_message_period
-          test/topic_statistics_collector/test_received_message_period.cpp)
-  target_link_libraries(test_received_message_period system_metrics_collector)
-  ament_target_dependencies(test_received_message_period rcl rclcpp)
-
-  ament_add_gtest(test_received_message_age
-          test/topic_statistics_collector/test_received_message_age.cpp)
-  target_link_libraries(test_received_message_age system_metrics_collector)
-  ament_target_dependencies(test_received_message_age rcl rclcpp message_filters std_msgs sensor_msgs)
-
-  install(TARGETS
-    test_moving_average_statistics
-    DESTINATION
-    lib/${PROJECT_NAME})
-  install(TARGETS
-    test_collector
-    DESTINATION
-    lib/${PROJECT_NAME})
-  install(TARGETS
-    test_periodic_measurement_node
-    DESTINATION
-    lib/${PROJECT_NAME})
-  install(TARGETS
-    test_received_message_period
-    DESTINATION
-    lib/${PROJECT_NAME})
-  install(TARGETS
-    test_received_message_age
-    DESTINATION
-    lib/${PROJECT_NAME})
 endif()
 
 # Install launch files