2525#include < diagnostic_updater/diagnostic_updater.hpp>
2626
2727#include < climits>
28+ #include < deque>
2829#include < map>
2930#include < string>
3031#include < vector>
@@ -55,11 +56,6 @@ class NetMonitor : public rclcpp::Node
5556 */
5657 ~NetMonitor ();
5758
58- /* *
59- * @brief Update the diagnostic state.
60- */
61- void update ();
62-
6359 /* *
6460 * @brief Shutdown nl80211 object
6561 */
@@ -86,24 +82,120 @@ class NetMonitor : public rclcpp::Node
8682 void monitorTraffic (
8783 diagnostic_updater::DiagnosticStatusWrapper & stat); // NOLINT(runtime/references)
8884
85+ /* *
86+ * @brief check CRC error
87+ * @param [out] stat diagnostic message passed directly to diagnostic publish calls
88+ * @note NOLINT syntax is needed since diagnostic_updater asks for a non-const reference
89+ * to pass diagnostic message updated in this function to diagnostic publish calls.
90+ */
91+ void checkCrcError (
92+ diagnostic_updater::DiagnosticStatusWrapper & stat); // NOLINT(runtime/references)
93+
8994 /* *
9095 * @brief get wireless speed
9196 * @param [in] ifa_name interface name
9297 * @return wireless speed
9398 */
9499 float getWirelessSpeed (const char * ifa_name);
95100
101+ /* *
102+ * @brief timer callback
103+ */
104+ void onTimer ();
105+
106+ /* *
107+ * @brief update Network information list
108+ */
109+ void updateNetworkInfoList ();
110+
111+ /* *
112+ * @brief check NetMonitor General Infomation
113+ * @param [out] stat diagnostic message passed directly to diagnostic publish calls
114+ * @return check result
115+ */
116+ bool checkGeneralInfo (diagnostic_updater::DiagnosticStatusWrapper & stat);
117+
118+ /* *
119+ * @brief Network information
120+ */
121+ struct NetworkInfo
122+ {
123+ int mtu_errno; // !< @brief errno set by ioctl() with SIOCGIFMTU
124+ int ethtool_errno; // !< @brief errno set by ioctl() with SIOCETHTOOL
125+ bool is_running; // !< @brief resource allocated flag
126+ std::string interface_name; // !< @brief interface name
127+ float speed; // !< @brief network capacity
128+ int mtu; // !< @brief MTU
129+ float rx_traffic; // !< @brief traffic received
130+ float tx_traffic; // !< @brief traffic transmitted
131+ float rx_usage; // !< @brief network capacity usage rate received
132+ float tx_usage; // !< @brief network capacity usage rate transmitted
133+ unsigned int rx_bytes; // !< @brief total bytes received
134+ unsigned int rx_errors; // !< @brief bad packets received
135+ unsigned int tx_bytes; // !< @brief total bytes transmitted
136+ unsigned int tx_errors; // !< @brief packet transmit problems
137+ unsigned int collisions; // !< @brief number of collisions during packet transmissions
138+
139+ NetworkInfo ()
140+ : mtu_errno(0 ),
141+ ethtool_errno (0 ),
142+ is_running(false ),
143+ interface_name(" "
144+ speed(0.0 ),
145+ mtu(0 ),
146+ rx_traffic(0.0 ),
147+ tx_traffic(0.0 ),
148+ rx_usage(0.0 ),
149+ tx_usage(0.0 ),
150+ rx_bytes(0 ),
151+ rx_errors(0 ),
152+ tx_bytes(0 ),
153+ tx_errors(0 ),
154+ collisions(0 )
155+ {
156+ }
157+ };
158+
159+ /* *
160+ * @brief determine if it is a supported network
161+ * @param [in] net_info network infomation
162+ * @param [in] index index of network infomation index
163+ * @param [out] stat diagnostic message passed directly to diagnostic publish calls
164+ * @param [out] error_str error string
165+ * @return result of determining whether it is a supported network
166+ */
167+ bool isSupportedNetwork (
168+ const NetworkInfo & net_info, int index, diagnostic_updater::DiagnosticStatusWrapper & stat,
169+ std::string & error_str);
170+
96171 diagnostic_updater::Updater updater_; // !< @brief Updater class which advertises to /diagnostics
172+ rclcpp::TimerBase::SharedPtr timer_; // !< @brief timer to get Network information
97173
98174 char hostname_[HOST_NAME_MAX + 1 ]; // !< @brief host name
99175 std::map<std::string, bytes> bytes_; // !< @brief list of bytes
100176 rclcpp::Time last_update_time_; // !< @brief last update time
101177 std::vector<std::string> device_params_; // !< @brief list of devices
102- NL80211 nl80211_; // !< @brief 802.11 netlink-based interface
178+ NL80211 nl80211_; // !< @brief 802.11 netlink-based interface
179+ int getifaddrs_errno_; // !< @brief errno set by getifaddrs()
180+ std::vector<NetworkInfo> net_info_list_; // !< @brief list of Network information
103181
104- std::string monitor_program_; // !< @brief nethogs monitor program name
105- bool nethogs_all_; // !< @brief nethogs result all mode
106- int traffic_reader_port_; // !< @brief port number to connect to traffic_reader
182+ /* *
183+ * @brief CRC errors information
184+ */
185+ typedef struct crc_errors
186+ {
187+ std::deque<unsigned int > errors_queue; // !< @brief queue that holds count of CRC errors
188+ unsigned int last_rx_crc_errors; // !< @brief rx_crc_error at the time of the last monitoring
189+
190+ crc_errors () : last_rx_crc_errors(0 ) {}
191+ } crc_errors;
192+ std::map<std::string, crc_errors> crc_errors_; // !< @brief list of CRC errors
193+
194+ std::string monitor_program_; // !< @brief nethogs monitor program name
195+ bool nethogs_all_; // !< @brief nethogs result all mode
196+ int traffic_reader_port_; // !< @brief port number to connect to traffic_reader
197+ unsigned int crc_error_check_duration_; // !< @brief CRC error check duration
198+ unsigned int crc_error_count_threshold_; // !< @brief CRC error count threshold
107199
108200 /* *
109201 * @brief Network usage status messages
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