1+ // Copyright 2024 Autoware Foundation
2+ //
3+ // Licensed under the Apache License, Version 2.0 (the "License");
4+ // you may not use this file except in compliance with the License.
5+ // You may obtain a copy of the License at
6+ //
7+ // http://www.apache.org/licenses/LICENSE-2.0
8+ //
9+ // Unless required by applicable law or agreed to in writing, software
10+ // distributed under the License is distributed on an "AS IS" BASIS,
11+ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12+ // See the License for the specific language governing permissions and
13+ // limitations under the License.
14+
15+ /* *
16+ * @file cgroup_setter.cpp
17+ * @brief Cgroup setter class
18+ */
19+
20+ #include " cgroup_setter.hpp"
21+ #include < iostream>
22+ #include < fstream>
23+ #include < sstream>
24+ #include < cstring>
25+ #include < unistd.h>
26+ #include < boost/process.hpp>
27+ #include < yaml-cpp/yaml.h>
28+
29+ namespace bp = boost::process;
30+
31+ CgroupSetter::CgroupSetter (const rclcpp::NodeOptions & options)
32+ : Node(" cgroup_setter_node"
33+ updater_(this )
34+ {
35+ try {
36+ std::string yaml_path = this ->declare_parameter <std::string>(" cgroup_setting_config_path"
37+ YAML::Node config = YAML::LoadFile (yaml_path);
38+ if (config[" base_path"
39+ base_path_ = config[" base_path" as <std::string>();
40+ } else {
41+ RCLCPP_ERROR (this ->get_logger (), " base_path is not set in the config file."
42+ return ;
43+ }
44+
45+ if (!config[" settings"
46+ RCLCPP_ERROR (this ->get_logger (), " settings is not set in the config file."
47+ return ;
48+ }
49+
50+ for (auto setting : config[" settings"
51+ if (!setting[" directory" " search_word"
52+ RCLCPP_ERROR (this ->get_logger (), " directory or search_word is not set in the config file."
53+ return ;
54+ }
55+
56+ for (auto word : setting[" search_word"
57+ std::pair<std::string, std::string> tmp_pair = std::make_pair (setting[" directory" as <std::string>(), word.as <std::string>());
58+ cgroup_map_[tmp_pair] = false ;
59+ }
60+ }
61+ } catch (const std::exception & e) {
62+ RCLCPP_ERROR (this ->get_logger (), " Failed to load the config file."
63+ return ;
64+ }
65+
66+ gethostname (hostname_, sizeof (hostname_));
67+ updater_.setHardwareID (hostname_);
68+ updater_.add (" Cgroup Setting" this , &CgroupSetter::checkCgroup);
69+
70+ // Timer
71+ using namespace std ::chrono_literals;
72+ timer_ = rclcpp::create_timer (
73+ this , this ->get_clock (), 1s, std::bind (&CgroupSetter::checkProcessAndAddToCgroup, this ));
74+ }
75+
76+ void CgroupSetter::checkCgroup (diagnostic_updater::DiagnosticStatusWrapper & stat) {
77+ bool allOK = true ;
78+ for (auto & entry : cgroup_map_) {
79+ if (entry.second ) {
80+ stat.add (entry.first .first + " " first .second , " OK"
81+ } else {
82+ allOK = false ;
83+ stat.add (entry.first .first + " " first .second , " NG"
84+ }
85+ }
86+ if (allOK) {
87+ if (timer_->is_active ()) timer->cancel ();
88+ stat.summary (diagnostic_msgs::msg::DiagnosticStatus::OK, " All processes are added to cgroup."
89+ } else {
90+ stat.summary (diagnostic_msgs::msg::DiagnosticStatus::WARN, " Some processes are not added to cgroup."
91+ }
92+ }
93+
94+ void CgroupSetter::checkProcessAndAddToCgroup () {
95+ for (auto & entry : cgroup_map_) {
96+ if (entry.second ) {
97+ continue ;
98+ }
99+ std::string word = entry.first .second ;
100+ std::string result = executeCommand (word);
101+ if (!result.empty ()) {
102+ std::istringstream iss (result);
103+ std::string pid;
104+ bool allAdded = true ;
105+ while (std::getline (iss, pid, ' \n '
106+ if (!pid.empty () && addToCgroup (entry.first .first , pid)) {
107+ if (checkPIDExists (base_path_ + " /" first .first + " /cgroup.procs"
108+ RCLCPP_INFO (this ->get_logger (), " Added all PIDs to cgroup. %s %s" first .second .c_str (), pid.c_str ());
109+ } else {
110+ allAdded = false ;
111+ RCLCPP_ERROR (this ->get_logger (), " Failed to add PID %s to cgroup. %s %s" c_str (), entry.first .second .c_str (), result.c_str ());
112+ }
113+ } else {
114+ allAdded = false ;
115+ RCLCPP_ERROR (this ->get_logger (), " Failed to add PID %s to cgroup. %s %s" c_str (), entry.first .second .c_str (), result.c_str ());
116+ }
117+ }
118+ if (allAdded) {
119+ entry.second = true ;
120+ }
121+ } else {
122+ RCLCPP_ERROR (this ->get_logger (), " Failed to get PID. %s %s" first .second .c_str (), result.c_str ());
123+ }
124+ }
125+ }
126+
127+ std::string CgroupSetter::executeCommand (const std::string& search_word) {
128+ int out_fd[2 ];
129+ if (pipe2 (out_fd, O_CLOEXEC) != 0 ) {
130+ RCLCPP_ERROR (this ->get_logger (), " pipe2 error"
131+ return " "
132+ }
133+ bp::pipe out_pipe{out_fd[0 ], out_fd[1 ]};
134+ bp::ipstream is_out{std::move (out_pipe)};
135+
136+ int err_fd[2 ];
137+ if (pipe2 (err_fd, O_CLOEXEC) != 0 ) {
138+ RCLCPP_ERROR (this ->get_logger (), " pipe2 error"
139+ return " "
140+ }
141+ bp::pipe err_pipe{err_fd[0 ], err_fd[1 ]};
142+ bp::ipstream is_err{std::move (err_pipe)};
143+ auto cmd=bp::search_path (" pgrep"
144+ std::vector<std::string> args;
145+ args.push_back (" -f"
146+ args.push_back (search_word);
147+ bp::child c (cmd, bp::args=args, bp::std_out > is_out, bp::std_err > is_err);
148+ c.wait ();
149+ if (c.exit_code () != 0 ) {
150+ std::ostringstream os;
151+ is_err >> os.rdbuf ();
152+ RCLCPP_ERROR (this ->get_logger (), os.str ().c_str ());
153+ return " "
154+ } else {
155+ std::ostringstream os;
156+ os << is_out.rdbuf ();
157+ std::string output = os.str ();
158+ return output;
159+ }
160+ }
161+
162+ bool CgroupSetter::checkPIDExists (const std::string& filePath, const std::string & pid) {
163+ std::ifstream file (filePath);
164+ if (!file.is_open ()) {
165+ RCLCPP_ERROR (this ->get_logger (), " Failed to open %s" c_str ());
166+ return false ;
167+ }
168+
169+ std::string line;
170+ while (std::getline (file, line)) {
171+ if (line == pid) {
172+ return true ;
173+ }
174+ }
175+ return false ;
176+ }
177+
178+ bool CgroupSetter::addToCgroup (const std::string& cgroupPath, const std::string& pid) {
179+ std::string cgroupProcFile = base_path_ + " /" " /cgroup.procs"
180+ std::ofstream ofs (cgroupProcFile, std::ofstream::app);
181+ if (!ofs) {
182+ std::cerr << " Failed to open "
183+ ofs.close ();
184+ return false ;
185+ }
186+ ofs << pid;
187+ if (!ofs) {
188+ std::cerr << " Failed to write to "
189+ ofs.close ();
190+ return false ;
191+ }
192+ ofs.close ();
193+ return true ;
194+ }
195+
196+ int main (int argc, char ** argv) {
197+ rclcpp::init (argc, argv);
198+ rclcpp::executors::SingleThreadedExecutor executor;
199+ auto options = rclcpp::NodeOptions ();
200+ auto node = std::make_shared<CgroupSetter>(options);
201+ executor.add_node (node);
202+ executor.spin ();
203+ executor.remove_node (node);
204+ rclcpp::shutdown ();
205+ }
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