Add launch file to launch system CPU and Memory collector nodes

system_metrics_collector/CMakeLists.txt

@@ -54,6 +54,14 @@ add_executable(main src/system_metrics_collector/main.cpp)
 target_link_libraries(main system_metrics_collector)
 ament_target_dependencies(main)
 
+add_executable(linux_cpu_collector src/system_metrics_collector/linux_cpu_collector.cpp)
+target_link_libraries(linux_cpu_collector system_metrics_collector)
+ament_target_dependencies(linux_cpu_collector)
+
+add_executable(linux_memory_collector src/system_metrics_collector/linux_memory_collector.cpp)
+target_link_libraries(linux_memory_collector system_metrics_collector)
+ament_target_dependencies(linux_memory_collector)
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   find_package(ament_cmake_gtest REQUIRED)
@@ -114,12 +122,31 @@ if(BUILD_TESTING)
     lib/${PROJECT_NAME})
 endif()
 
+# Install launch files
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+# Install entry points
 install(TARGETS
   main
   DESTINATION
   lib/${PROJECT_NAME}
 )
 
+install(TARGETS
+  linux_cpu_collector
+  DESTINATION
+  lib/${PROJECT_NAME}
+)
+
+install(TARGETS
+  linux_memory_collector
+  DESTINATION
+  lib/${PROJECT_NAME}
+)
+
 install(TARGETS ${PROJECT_NAME}
   DESTINATION lib
 )

system_metrics_collector/launch/system_cpu_and_memory.launch.py

@@ -0,0 +1,35 @@
+# 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.
+
+"""Launch system CPU and system memory metrics collector nodes."""
+
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    """Run system CPU and memory collector nodes using launch."""
+    ld = LaunchDescription([
+        Node(
+            package='system_metrics_collector',
+            node_executable='linux_cpu_collector',
+            output='screen'),
+        Node(
+            package='system_metrics_collector',
+            node_executable='linux_memory_collector',
+            output='screen'
+        ),
+    ])
+    return ld

system_metrics_collector/src/system_metrics_collector/constants.hpp

@@ -0,0 +1,34 @@
+// 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 SYSTEM_METRICS_COLLECTOR__CONSTANTS_HPP_
+#define SYSTEM_METRICS_COLLECTOR__CONSTANTS_HPP_
+
+#include <chrono>
+
+namespace system_metrics_collector
+{
+
+namespace collector_node_constants
+{
+
+constexpr const char kStatisticsTopicName[] = "system_metrics";
+constexpr const std::chrono::seconds kDefaultCollectPeriod{1};
+constexpr const std::chrono::minutes kDefaultPublishPeriod{1};
+
+}  // namespace collector_node_constants
+
+}  // namespace system_metrics_collector
+
+#endif  // SYSTEM_METRICS_COLLECTOR__CONSTANTS_HPP_

system_metrics_collector/src/system_metrics_collector/linux_cpu_collector.cpp

@@ -0,0 +1,47 @@
+// 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.
+
+
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "rcutils/logging_macros.h"
+
+#include "../../src/system_metrics_collector/constants.hpp"
+#include "../../src/system_metrics_collector/linux_cpu_measurement_node.hpp"
+
+/**
+* An entry point that starts the linux system CPU metric collector node.
+*/
+
+int main(int argc, char ** argv)
+{
+  rclcpp::init(argc, argv);
+
+  const auto cpu_node = std::make_shared<system_metrics_collector::LinuxCpuMeasurementNode>(
+    "linuxCpuCollector",
+    system_metrics_collector::collector_node_constants::kDefaultCollectPeriod,
+    system_metrics_collector::collector_node_constants::kStatisticsTopicName,
+    system_metrics_collector::collector_node_constants::kDefaultPublishPeriod);
+
+  rclcpp::executors::MultiThreadedExecutor ex;
+  cpu_node->Start();
+
+  ex.add_node(cpu_node);
+  ex.spin();
+
+  rclcpp::shutdown();
+  cpu_node->Stop();
+  return 0;
+}

system_metrics_collector/src/system_metrics_collector/linux_memory_collector.cpp

@@ -0,0 +1,46 @@
+// 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.
+
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "rcutils/logging_macros.h"
+
+#include "../../src/system_metrics_collector/constants.hpp"
+#include "../../src/system_metrics_collector/linux_memory_measurement_node.hpp"
+
+/**
+* An entry point that starts the linux system memory metric collector node.
+*/
+
+int main(int argc, char ** argv)
+{
+  rclcpp::init(argc, argv);
+
+  const auto mem_node = std::make_shared<system_metrics_collector::LinuxMemoryMeasurementNode>(
+    "linuxMemoryCollector",
+    system_metrics_collector::collector_node_constants::kDefaultCollectPeriod,
+    system_metrics_collector::collector_node_constants::kStatisticsTopicName,
+    system_metrics_collector::collector_node_constants::kDefaultPublishPeriod);
+
+  rclcpp::executors::MultiThreadedExecutor ex;
+  mem_node->Start();
+
+  ex.add_node(mem_node);
+  ex.spin();
+
+  rclcpp::shutdown();
+  mem_node->Stop();
+  return 0;
+}