feat: change command to top again

Signed-off-by: Mehmet Emin BAŞOĞLU <memin@leodrive.ai>

Author: Mehmet Emin BAŞOĞLU

system/autoware_component_monitor/src/component_monitor_node.cpp

@@ -24,9 +24,9 @@ ComponentMonitor::ComponentMonitor(const rclcpp::NodeOptions & node_options)
   usage_pub_ = create_publisher<autoware_internal_msgs::msg::SystemUsage>(
     "component_system_usage", rclcpp::SensorDataQoS());
 
-  const auto p = bp::search_path("pidstat");
+  const auto p = bp::search_path("top");
   if (p.empty()) {
-    RCLCPP_ERROR_STREAM(get_logger(), "Couldn't find 'pidstat' in path.");
+    RCLCPP_ERROR_STREAM(get_logger(), "Couldn't find 'top' in path.");
     rclcpp::shutdown();
   }
 
@@ -38,6 +38,7 @@ void ComponentMonitor::timer_callback()
 {
   if (usage_pub_->get_subscription_count() == 0) return;
 
+  get_stats();
   get_cpu_usage();
   get_mem_usage();
   publish();
@@ -52,6 +53,32 @@ void ComponentMonitor::publish()
   usage_pub_->publish(usage_msg_);
 }
 
+/**
+ * @brief Get system usage of the component.
+ *
+ * @details The output of top -b -d 0.1 -n 1 -p PID` is like below:
+ *
+ * top - 15:32:33 up  4:34,  1 user,  load average: 3,11, 4,51, 3,67
+ * Tasks:   1 total,   0 running,   1 sleeping,   0 stopped,   0 zombie
+ * %Cpu(s):  0,0 us,  0,8 sy,  0,0 ni, 99,2 id,  0,0 wa,  0,0 hi,  0,0 si,  0,0 st
+ * MiB Mem :  63996,4 total,  11536,7 free,  34437,3 used,  18022,4 buff/cache
+ * MiB Swap:   2048,0 total,    894,2 free,   1153,8 used.  27854,7 avail Mem
+ *
+ *   PID USER      PR  NI    VIRT    RES    SHR S  %CPU  %MEM     TIME+ COMMAND
+ *  2837 meb       20   0 2681404   1,0g  34796 S   0,0   1,6  19:48.66 awesome
+ *
+ * We get 5th, 8th, and 9th fields, which are RES, %CPU, and %MEM, respectively.
+ *
+ */
+void ComponentMonitor::get_stats()
+{
+  std::string cmd{"top -b -d 0.1 -n 1 -p "};
+  cmd += std::to_string(pid_);
+
+  auto std_out = run_command(cmd);
+  fields_ = get_fields(std_out);
+}
+
 std::stringstream ComponentMonitor::run_command(const std::string & cmd) const
 {
   int out_fd[2];
@@ -104,6 +131,47 @@ std::vector<std::string> ComponentMonitor::get_fields(std::stringstream & std_ou
   return words;
 }
 
+void ComponentMonitor::get_cpu_usage()
+{
+  const auto & cpu_rate = fields_[8];
+  usage_msg_.cpu_usage_rate = to_float(cpu_rate);
+}
+
+void ComponentMonitor::get_mem_usage()
+{
+  auto & mem_usage = fields_[5];
+  const auto & mem_usage_rate = fields_[9];
+
+  uint64_t mem_usage_kib{};
+  switch (mem_usage.back()) {
+    case 'm':
+      mem_usage.pop_back();
+      mem_usage_kib = mib_to_kib(to_uint32(mem_usage));
+      break;
+    case 'g':
+      mem_usage.pop_back();
+      mem_usage_kib = gib_to_kib(to_uint32(mem_usage));
+      break;
+    case 't':
+      mem_usage.pop_back();
+      mem_usage_kib = tib_to_kib(to_uint32(mem_usage));
+      break;
+    case 'p':
+      mem_usage.pop_back();
+      mem_usage_kib = pib_to_kib(to_uint32(mem_usage));
+      break;
+    case 'e':
+      mem_usage.pop_back();
+      mem_usage_kib = eib_to_kib(to_uint32(mem_usage));
+      break;
+    default:
+      mem_usage_kib = to_uint32(mem_usage);
+  }
+
+  usage_msg_.mem_usage_kib = mem_usage_kib;
+  usage_msg_.mem_usage_rate = to_float(mem_usage_rate);
+}
+
 float ComponentMonitor::to_float(const std::string & str)
 {
   return std::strtof(str.c_str(), nullptr);
@@ -114,54 +182,29 @@ uint32_t ComponentMonitor::to_uint32(const std::string & str)
   return std::strtoul(str.c_str(), nullptr, 10);
 }
 
-// cspell: ignore pidstat, leopc
-/**
- * @brief Get CPU usage of the component.
- *
- * @details The output of `pidstat -u -h 1 1 -p PID` is like below:
- *
- * Linux 6.5.0-35-generic (leopc) 	21-05-2024 	_x86_64_	(16 CPU)
- * 14:54:52      UID       PID    %usr %system  %guest   %wait    %CPU   CPU  Command
- * 14:54:52     1000      3280    0,00    0,00    0,00    0,00    0,00     0  awesome
- *
- * We get the 7th field, which is %CPU.
- */
-void ComponentMonitor::get_cpu_usage()
+uint64_t ComponentMonitor::mib_to_kib(uint64_t mebibytes)
 {
-  std::string cmd{"pidstat -u -h 1 1 -p "};
-  cmd += std::to_string(pid_);
-
-  auto std_out = run_command(cmd);
-  const auto fields = get_fields(std_out);
-
-  const auto & cpu_rate = fields[7];
-  usage_msg_.cpu_usage_rate = to_float(cpu_rate);
+  return mebibytes * 1024;
 }
 
-/**
- * @brief Get memory usage of the component.
- *
- * @details The output of `pidstat -r -h 1 1 -p PID` is like below:
- *
- * Linux 6.5.0-35-generic (leopc) 	21-05-2024 	_x86_64_	(16 CPU)
- * 14:54:52      UID       PID  minflt/s  majflt/s     VSZ     RSS   %MEM  Command
- * 14:54:52     1000      3280   2426,99      0,00 1820884 1243692   1,90  awesome
- *
- * We get the 6th and 7th fields, which are RSS and %MEM, respectively.
- */
-void ComponentMonitor::get_mem_usage()
+uint64_t ComponentMonitor::gib_to_kib(uint64_t gibibytes)
 {
-  std::string cmd{"pidstat -r -h 1 1 -p "};
-  cmd += std::to_string(pid_);
+  return gibibytes * 1024 * 1024;
+}
 
-  auto std_out = run_command(cmd);
-  const auto fields = get_fields(std_out);
+uint64_t ComponentMonitor::tib_to_kib(uint64_t tebibytes)
+{
+  return tebibytes * 1024ULL * 1024ULL * 1024ULL;
+}
 
-  const auto & mem_usage = fields[6];
-  const auto & mem_usage_rate = fields[7];
+uint64_t ComponentMonitor::pib_to_kib(uint64_t pebibytes)
+{
+  return pebibytes * 1024ULL * 1024ULL * 1024ULL * 1024ULL;
+}
 
-  usage_msg_.mem_usage_bytes = to_uint32(mem_usage);
-  usage_msg_.mem_usage_rate = to_float(mem_usage_rate);
+uint64_t ComponentMonitor::eib_to_kib(uint64_t exbibytes)
+{
+  return exbibytes * 1024ULL * 1024ULL * 1024ULL * 1024ULL * 1024ULL;
 }
 
 }  // namespace autoware::component_monitor

system/autoware_component_monitor/src/component_monitor_node.hpp

@@ -40,17 +40,24 @@ class ComponentMonitor : public rclcpp::Node
 private:
   void timer_callback();
   void publish();
+  void get_stats();
   std::stringstream run_command(const std::string & cmd) const;
   static std::vector<std::string> get_fields(std::stringstream & std_out);
-  static float to_float(const std::string & str);
-  static uint32_t to_uint32(const std::string & str);
   void get_cpu_usage();
   void get_mem_usage();
+  static float to_float(const std::string & str);
+  static uint32_t to_uint32(const std::string & str);
+  static uint64_t mib_to_kib(uint64_t mebibytes);
+  static uint64_t gib_to_kib(uint64_t gibibytes);
+  static uint64_t tib_to_kib(uint64_t tebibytes);
+  static uint64_t pib_to_kib(uint64_t pebibytes);
+  static uint64_t eib_to_kib(uint64_t exbibytes);
 
   rclcpp::TimerBase::SharedPtr timer_;
   rclcpp::Publisher<autoware_internal_msgs::msg::SystemUsage>::SharedPtr usage_pub_;
 
   pid_t pid_;
+  std::vector<std::string> fields_{};
   autoware_internal_msgs::msg::SystemUsage usage_msg_{};
 };