h-ohta
diff --git a/‎system/system_monitor/CHANGELOG.rst
+8 b/‎system/system_monitor/CHANGELOG.rst
+8
diff --git a/‎system/system_monitor/CMakeLists.txt
+315 b/‎system/system_monitor/CMakeLists.txt
+315
@@ -0,0 +1,8 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package system_monitor
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.1x.0 (2020-xx-xx)
+-------------------
+* Initial commit
+* Contributors: Fumihito Ito
@@ -0,0 +1,315 @@
+cmake_minimum_required(VERSION 3.5)
+project(system_monitor)
+
+## Compile as C++14, supported in ROS Melodic and newer
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+  set(CMAKE_CXX_EXTENSIONS OFF)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+endif()
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
+find_package(NVML)
+find_package(fmt REQUIRED)
+set(LIBRARIES fmt)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+
+find_path(LIBNL3_INCLUDE_DIRS
+  NAMES netlink/netlink.h
+  PATH_SUFFIXES libnl3
+)
+
+if(NVML_FOUND)
+  include_directories(
+    include
+    ${LIBNL3_INCLUDE_DIRS}
+    ${NVML_INCLUDE_DIRS}
+  )
+else()
+  include_directories(
+    include
+    ${LIBNL3_INCLUDE_DIRS}
+  )
+endif()
+
+## Declare a C++ executable
+
+if(CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
+  set(CMAKE_CPU_PLATFORM "intel")
+  add_definitions(-D_CPU_INTEL_)
+elseif(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64" OR CMAKE_SYSTEM_PROCESSOR STREQUAL "arm")
+  if(CMAKE_HOST_SYSTEM_VERSION MATCHES ".*raspi.*")
+    set(CMAKE_CPU_PLATFORM "raspi")
+    add_definitions(-D_CPU_RASPI_)
+  elseif(CMAKE_HOST_SYSTEM_VERSION MATCHES ".*tegra.*")
+    set(CMAKE_CPU_PLATFORM "tegra")
+    add_definitions(-D_CPU_TEGRA_)
+  else()
+    set(CMAKE_CPU_PLATFORM "arm")
+    add_definitions(-D_CPU_ARM_)
+  endif()
+else()
+  set(CMAKE_CPU_PLATFORM "unknown")
+endif()
+
+if(NVML_FOUND)
+  set(CMAKE_GPU_PLATFORM "nvml")
+  add_definitions(-D_GPU_NVML_)
+  set(GPU_LIBRARY ${NVML_LIBRARIES})
+else()
+  if(CMAKE_CPU_PLATFORM STREQUAL "tegra")
+    set(CMAKE_GPU_PLATFORM "tegra")
+    add_definitions(-D_GPU_TEGRA_)
+  else()
+    set(CMAKE_GPU_PLATFORM "unknown")
+  endif()
+endif()
+
+message(STATUS "HOST_SYSTEM_VERSION: " ${CMAKE_HOST_SYSTEM_VERSION})
+message(STATUS "SYSTEM_PROCESSOR: " ${CMAKE_SYSTEM_PROCESSOR})
+message(STATUS "CPU PLATFORM: " ${CMAKE_CPU_PLATFORM})
+message(STATUS "GPU PLATFORM: " ${CMAKE_GPU_PLATFORM})
+
+set(CPU_MONITOR_SOURCE
+  src/cpu_monitor/cpu_monitor_base.cpp
+  src/cpu_monitor/${CMAKE_CPU_PLATFORM}_cpu_monitor.cpp
+)
+
+ament_auto_add_library(cpu_monitor_lib SHARED
+  ${CPU_MONITOR_SOURCE}
+)
+
+ament_auto_add_library(hdd_monitor_lib SHARED
+  src/hdd_monitor/hdd_monitor.cpp
+)
+
+ament_auto_add_library(mem_monitor_lib SHARED
+  src/mem_monitor/mem_monitor.cpp
+)
+
+ament_auto_add_library(net_monitor_lib SHARED
+  src/net_monitor/net_monitor.cpp
+  src/net_monitor/nl80211.cpp
+)
+
+ament_auto_add_library(ntp_monitor_lib SHARED
+  src/ntp_monitor/ntp_monitor.cpp
+)
+
+ament_auto_add_library(process_monitor_lib SHARED
+  src/process_monitor/process_monitor.cpp
+)
+
+set(GPU_MONITOR_SOURCE
+  src/gpu_monitor/gpu_monitor_base.cpp
+  src/gpu_monitor/${CMAKE_GPU_PLATFORM}_gpu_monitor.cpp
+)
+ament_auto_add_library(gpu_monitor_lib SHARED
+  ${GPU_MONITOR_SOURCE}
+)
+
+ament_auto_add_executable(msr_reader
+  reader/msr_reader/msr_reader.cpp
+)
+
+ament_auto_add_executable(hdd_reader
+  reader/hdd_reader/hdd_reader.cpp
+)
+
+find_library(NL3 nl-3 REQUIRED)
+find_library(NLGENL3 nl-genl-3 REQUIRED)
+list(APPEND NL_LIBS ${NL3} ${NLGENL3})
+
+find_package(Boost REQUIRED COMPONENTS
+  serialization
+  thread
+  filesystem
+  regex
+)
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(cpu_monitor_lib ${Boost_LIBRARIES} ${LIBRARIES})
+target_link_libraries(hdd_monitor_lib ${Boost_LIBRARIES} ${LIBRARIES})
+target_link_libraries(mem_monitor_lib ${LIBRARIES})
+target_link_libraries(net_monitor_lib ${NL_LIBS} ${LIBRARIES})
+target_link_libraries(ntp_monitor_lib ${Boost_LIBRARIES} ${LIBRARIES})
+target_link_libraries(process_monitor_lib ${LIBRARIES})
+target_link_libraries(gpu_monitor_lib ${GPU_LIBRARY} ${Boost_LIBRARIES} ${LIBRARIES})
+target_link_libraries(msr_reader ${Boost_LIBRARIES} ${LIBRARIES})
+target_link_libraries(hdd_reader ${Boost_LIBRARIES} ${LIBRARIES})
+
+rclcpp_components_register_node(cpu_monitor_lib
+  PLUGIN "CPUMonitor"
+  EXECUTABLE cpu_monitor
+)
+
+rclcpp_components_register_node(hdd_monitor_lib
+  PLUGIN "HDDMonitor"
+  EXECUTABLE hdd_monitor
+)
+
+rclcpp_components_register_node(mem_monitor_lib
+  PLUGIN "MemMonitor"
+  EXECUTABLE mem_monitor
+)
+
+rclcpp_components_register_node(net_monitor_lib
+  PLUGIN "NetMonitor"
+  EXECUTABLE net_monitor
+)
+
+rclcpp_components_register_node(ntp_monitor_lib
+  PLUGIN "NTPMonitor"
+  EXECUTABLE ntp_monitor
+)
+
+rclcpp_components_register_node(process_monitor_lib
+  PLUGIN "ProcessMonitor"
+  EXECUTABLE process_monitor
+)
+
+rclcpp_components_register_node(gpu_monitor_lib
+  PLUGIN "GPUMonitor"
+  EXECUTABLE gpu_monitor
+)
+
+# TODO(yunus.caliskan): Port the tests to ROS2, robustify the tests.
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+
+  # ament_add_gtest(test_cpu_monitor
+  #   test/src/cpu_monitor/test_${CMAKE_CPU_PLATFORM}_cpu_monitor.cpp
+  #   ${CPU_MONITOR_SOURCE}
+  # )
+
+  # ament_target_dependencies(test_cpu_monitor
+  #   "rclcpp"
+  #   "diagnostic_msgs"
+  # )
+
+  # target_include_directories(test_cpu_monitor
+  #   PRIVATE "include"
+  # )
+
+  # target_link_libraries(test_cpu_monitor ${Boost_LIBRARIES} ${LIBRARIES})
+
+  # ament_add_gtest(test_hdd_monitor
+  #   test/src/hdd_monitor/test_hdd_monitor.cpp
+  #   src/hdd_monitor/hdd_monitor.cpp
+  # )
+
+  # ament_target_dependencies(test_hdd_monitor
+  #   "rclcpp"
+  #   "diagnostic_msgs"
+  # )
+
+  # target_include_directories(test_hdd_monitor
+  #   PRIVATE "include"
+  # )
+
+  # target_link_libraries(test_hdd_monitor ${Boost_LIBRARIES} ${LIBRARIES}
+  # )
+
+  # ament_add_gtest(test_mem_monitor
+  #   test/src/mem_monitor/test_mem_monitor.cpp
+  #   src/mem_monitor/mem_monitor.cpp
+  # )
+
+  # ament_target_dependencies(test_mem_monitor
+  #   "rclcpp"
+  #   "diagnostic_msgs"
+  # )
+
+  # target_include_directories(test_mem_monitor
+  #   PRIVATE "include"
+  # )
+
+  # target_link_libraries(test_mem_monitor ${Boost_LIBRARIES} ${LIBRARIES})
+
+  # ament_add_gtest(test_net_monitor
+  #   test/src/net_monitor/test_net_monitor.cpp
+  #   src/net_monitor/net_monitor.cpp
+  #   src/net_monitor/nl80211.cpp
+  # )
+
+  # ament_target_dependencies(test_net_monitor
+  #   "rclcpp"
+  #   "diagnostic_msgs"
+  # )
+
+  # target_include_directories(test_net_monitor
+  #   PRIVATE "include"
+  # )
+
+  # target_link_libraries(test_net_monitor ${Boost_LIBRARIES} ${NL_LIBS} ${LIBRARIES})
+
+  # ament_add_gtest(test_ntp_monitor
+  #   test/src/ntp_monitor/test_ntp_monitor.cpp
+  #   src/ntp_monitor/ntp_monitor.cpp
+  # )
+
+  # ament_target_dependencies(test_ntp_monitor
+  #   "rclcpp"
+  #   "diagnostic_msgs"
+  # )
+
+  # target_include_directories(test_ntp_monitor
+  #   PRIVATE "include"
+  # )
+
+  # target_link_libraries(test_ntp_monitor ${Boost_LIBRARIES} ${LIBRARIES})
+
+  # ament_add_gtest(test_process_monitor
+  #   test/src/process_monitor/test_process_monitor.cpp
+  #   src/process_monitor/process_monitor.cpp
+  # )
+
+  # ament_target_dependencies(test_process_monitor
+  #   "rclcpp"
+  #   "diagnostic_msgs"
+  # )
+
+  # target_include_directories(test_process_monitor
+  #   PRIVATE "include"
+  # )
+
+  # target_link_libraries(test_process_monitor ${Boost_LIBRARIES} ${LIBRARIES})
+
+  # ament_add_gtest(test_gpu_monitor
+  #   test/src/gpu_monitor/test_${CMAKE_GPU_PLATFORM}_gpu_monitor.cpp
+  #   ${GPU_MONITOR_SOURCE}
+  # )
+
+  # ament_target_dependencies(test_gpu_monitor
+  #   "rclcpp"
+  #   "diagnostic_msgs"
+  # )
+
+  # target_include_directories(test_gpu_monitor
+  #   PRIVATE "include"
+  # )
+
+  # target_link_libraries(test_gpu_monitor ${GPU_LIBRARY} ${LIBRARIES})
+
+endif()
+
+#############
+## Install ##
+#############
+
+ament_auto_package(INSTALL_TO_SHARE
+  launch
+  config
+)