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)
@@ -114,18 +122,31 @@ if(BUILD_TESTING)
     lib/${PROJECT_NAME})
 endif()
 
-# Install launch files.
+# 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

@@ -24,7 +24,12 @@ def generate_launch_description():
     ld = LaunchDescription([
         Node(
             package='system_metrics_collector',
-            node_executable='main',
+            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/linux_cpu_collector.cpp

@@ -0,0 +1,60 @@
+// 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/linux_cpu_measurement_node.hpp"
+
+namespace
+{
+constexpr const char kStatisticsTopicName[] = "system_metrics";
+constexpr const std::chrono::seconds kDefaultCollectPeriod{1};
+constexpr const std::chrono::minutes kDefaultPublishPeriod{1};
+}
+
+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",
+    kDefaultCollectPeriod,
+    kStatisticsTopicName,
+    kDefaultPublishPeriod);
+
+  rclcpp::executors::MultiThreadedExecutor ex;
+  cpu_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("linux_cpu_main",
+        "Unable to set debug logging for the cpu node: %s\n",
+        rcutils_get_error_string().str);
+    }
+  }
+
+  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 +1,59 @@
+// 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/linux_memory_measurement_node.hpp"
+
+namespace
+{
+constexpr const char kStatisticsTopicName[] = "system_metrics";
+constexpr const std::chrono::seconds kDefaultCollectPeriod{1};
+constexpr const std::chrono::minutes kDefaultPublishPeriod{1};
+}
+
+int main(int argc, char ** argv)
+{
+  rclcpp::init(argc, argv);
+
+  using namespace std::chrono_literals;
+  const auto mem_node = std::make_shared<system_metrics_collector::LinuxMemoryMeasurementNode>(
+    "linuxMemoryCollector",
+    kDefaultCollectPeriod,
+    kStatisticsTopicName,
+    kDefaultPublishPeriod);
+
+  rclcpp::executors::MultiThreadedExecutor ex;
+  mem_node->Start();
+
+  {
+    const auto r =
+      rcutils_logging_set_logger_level(mem_node->get_name(), RCUTILS_LOG_SEVERITY_DEBUG);
+    if (r != 0) {
+      RCUTILS_LOG_ERROR_NAMED("linux_mem_main",
+        "Unable to set debug logging for the memory node: %s\n",
+        rcutils_get_error_string().str);
+    }
+  }
+
+  ex.add_node(mem_node);
+  ex.spin();
+
+  rclcpp::shutdown();
+  mem_node->Stop();
+  return 0;
+}