Add CPU and memory measurements

rosin-project · Apr 21, 2021 · 3845a92 · 3845a92
1 parent 586d2e6
commit 3845a92
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Showing 3 changed files with 46 additions and 2 deletions.
diff --git a/launch/stop_simulation.launch b/launch/stop_simulation.launch
@@ -41,5 +41,9 @@
         <param name="n_obstacles" value="$(arg obstacles)" type="int"/>
     </node>
 
+    <node pkg="cob_monitoring" type="cpu_monitor.py" name="cpu_monitoring" output="screen">
+    </node>
+
+
 
 </launch>
diff --git a/metacontrol_experiments.rosinstall b/metacontrol_experiments.rosinstall
@@ -48,4 +48,8 @@
     local-name: ros_model_parser
     uri: https://github.com/ipa320/ros_model_parser.git
     version: master
+- git:
+    local-name: cob_command_tools
+    uri: https://github.com/marioney/cob_command_tools.git
+    version: metacontrol_models
 
diff --git a/src/stop_simulation_node.cpp b/src/stop_simulation_node.cpp
@@ -82,6 +82,8 @@ class LogData
   double safety_threshold_;
   double average_safety_;
   int safety_over_zero_count_;
+  std::string av_cpu_load_;
+  std::string memory_used_;
 
   std::string errors_from_reasoner_;
 
@@ -275,7 +277,34 @@ void LogData::diagnostics_callback(const diagnostic_msgs::DiagnosticArray::Const
   {
     diagnostic_msgs::DiagnosticStatus tmp_diagnostic = msg_diagnostics->status[i];
 
-    if (tmp_diagnostic.message.compare(0, 2, "QA") == 0 )
+    if (tmp_diagnostic.name.compare("CPU Usage") == 0 )
+    {
+      // ROS_INFO("[LogData :: diagnostics_callback] - Message: %s", tmp_diagnostic.message.c_str());
+      if (tmp_diagnostic.values.size() > 1)
+      {
+        // if (tmp_diagnostic.values[1].key.compare("1 min Load Average") == 0)
+        // {
+            av_cpu_load_ = tmp_diagnostic.values[1].value;
+        // }
+      }
+    }
+    else if (tmp_diagnostic.name.compare("Memory Usage") == 0 )
+    {
+     // ROS_INFO("[LogData :: diagnostics_callback] - Message: %s", tmp_diagnostic.message.c_str());
+      if (tmp_diagnostic.values.size() > 1)
+      {
+        if (tmp_diagnostic.values[1].key.compare("Mem Used") == 0)
+        {
+            memory_used_ = tmp_diagnostic.values[1].value;
+        }
+      }
+    }
+    else if (tmp_diagnostic.name.compare(0, 2, "QA") == 0 )
+    {
+     // ROS_INFO("[LogData :: diagnostics_callback] - Message: %s", tmp_diagnostic.message.c_str());
+      updateQA(tmp_diagnostic);
+    }
+    else if (tmp_diagnostic.message.compare(0, 2, "QA") == 0 )
     {
      // ROS_INFO("[LogData :: diagnostics_callback] - Message: %s", tmp_diagnostic.message.c_str());
       updateQA(tmp_diagnostic);
@@ -301,6 +330,7 @@ void LogData::updateQA(const diagnostic_msgs::DiagnosticStatus diagnostic_status
   }
 }
 
+
 void LogData::goal_result_callback(const move_base_msgs::MoveBaseActionResult::ConstPtr& msg_goal_result)
 {
   if(msg_goal_result->status.status == 3)
@@ -454,6 +484,8 @@ bool LogData::write_log_header()
     log_data_file_ << "goal_reached, ";
     log_data_file_ << "QA_satisfied, ";
     log_data_file_ << "Av_safety_satisfied, ";
+    log_data_file_ << "Average CPU Usage, ";
+    log_data_file_ << "Memory Compsumption, ";
     log_data_file_ << "reasoner_error_log";
     log_data_file_ << "\n";
     log_data_file_.close();
@@ -570,8 +602,12 @@ void LogData::store_info()
       // tmp_string = buffer;
       // log_data_file_ << tmp_string.c_str();
 
-      log_data_file_ << std::string((average_safety_ < 0.5) ? "true," : "false,").c_str();
+      log_data_file_ << std::string((average_safety_ < 0.6) ? "true," : "false,").c_str();
 
+      // Cpu ussage and memory compsumption
+      tmp_string.clear();
+      tmp_string = av_cpu_load_ + std::string(", ") + memory_used_ + std::string(", ");
+      log_data_file_ << tmp_string.c_str();
 
       // Add error logs from reasoner
       log_data_file_ << errors_from_reasoner_.c_str();