feat: change from node_death_monitor from process_alive_monitor

Signed-off-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>

system/autoware_node_death_monitor/CMakeLists.txt → system/autoware_process_alive_monitor/CMakeLists.txt

@@ -1,15 +1,15 @@
 cmake_minimum_required(VERSION 3.14)
-project(autoware_node_death_monitor)
+project(autoware_process_alive_monitor)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
-  src/autoware_node_death_monitor.cpp
+  src/autoware_process_alive_monitor.cpp
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "autoware::node_death_monitor::NodeDeathMonitor"
+  PLUGIN "autoware::process_alive_monitor::ProcessAliveMonitor"
   EXECUTABLE ${PROJECT_NAME}_node)
 
 ament_auto_package(INSTALL_TO_SHARE

system/autoware_node_death_monitor/README.md → system/autoware_process_alive_monitor/README.md

@@ -1,12 +1,12 @@
-# autoware_node_death_monitor
+# autoware_process_alive_monitor
 
 This package provides a monitoring node that detects ROS 2 node crashes by analyzing `launch.log` files, rather than subscribing to `/rosout` logs.
 
 ---
 
 ## Overview
 
-- **Node name**: `autoware_node_death_monitor`
+- **Node name**: `autoware_process_alive_monitor`
 - **Monitored file**: `launch.log`
 - **Detected event**: Looks for lines containing the substring `"process has died"` and extracts the node name and exit code.
 
@@ -16,7 +16,7 @@ When a crash or unexpected shutdown occurs, `ros2 launch` typically outputs a li
 [ERROR] [node_name-1]: process has died [pid 12345, exit code 139, cmd '...']
 ```
 
-The `autoware_node_death_monitor` node continuously reads the latest `launch.log` file, detects these messages, and logs a warning or marks the node as "dead."
+The `autoware_process_alive_monitor` node continuously reads the latest `launch.log` file, detects these messages, and logs a warning or marks the node as "dead."
 
 ---
 
@@ -48,10 +48,10 @@ The `autoware_node_death_monitor` node continuously reads the latest `launch.log
 | `check_interval`    | `double`   | `1.0`             | Timer interval (seconds) for scanning the log file.        |
 | `enable_debug`      | `bool`     | `false`           | Enables debug logging for detailed output.                 |
 
-Example **`autoware_node_death_monitor.param.yaml`**:
+Example **`autoware_process_alive_monitor.param.yaml`**:
 
 ```yaml
-autoware_node_death_monitor:
+autoware_process_alive_monitor:
   ros__parameters:
     ignore_node_names:
       - rviz2

system/autoware_node_death_monitor/include/autoware_node_death_monitor/autoware_node_death_monitor.hpp → system/autoware_process_alive_monitor/include/autoware_process_alive_monitor/autoware_process_alive_monitor.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_NODE_DEATH_MONITOR__AUTOWARE_NODE_DEATH_MONITOR_HPP_
-#define AUTOWARE_NODE_DEATH_MONITOR__AUTOWARE_NODE_DEATH_MONITOR_HPP_
+#ifndef AUTOWARE_PROCESS_ALIVE_MONITOR__AUTOWARE_PROCESS_ALIVE_MONITOR_HPP_
+#define AUTOWARE_PROCESS_ALIVE_MONITOR__AUTOWARE_PROCESS_ALIVE_MONITOR_HPP_
 
 #include "rclcpp/rclcpp.hpp"
 
@@ -22,17 +22,17 @@
 #include <unordered_map>
 #include <vector>
 
-namespace autoware::node_death_monitor
+namespace autoware::process_alive_monitor
 {
 
-class NodeDeathMonitor : public rclcpp::Node
+class ProcessAliveMonitor : public rclcpp::Node
 {
 public:
   /**
-   * @brief Constructor for NodeDeathMonitor
+   * @brief Constructor for ProcessAliveMonitor
    * @param options Node options for configuration
    */
-  explicit NodeDeathMonitor(const rclcpp::NodeOptions & options);
+  explicit ProcessAliveMonitor(const rclcpp::NodeOptions & options);
 
 private:
   /**
@@ -67,6 +67,6 @@ class NodeDeathMonitor : public rclcpp::Node
   bool enable_debug_{false};                    // Enable debug output
 };
 
-}  // namespace autoware::node_death_monitor
+}  // namespace autoware::process_alive_monitor
 
-#endif  // AUTOWARE_NODE_DEATH_MONITOR__AUTOWARE_NODE_DEATH_MONITOR_HPP_
+#endif  // AUTOWARE_PROCESS_ALIVE_MONITOR__AUTOWARE_PROCESS_ALIVE_MONITOR_HPP_

system/autoware_process_alive_monitor/launch/autoware_process_alive_monitor.launch.xml

@@ -0,0 +1,12 @@
+<launch>
+  <!-- Parameter -->
+  <arg name="config_file" default="$(find-pkg-share autoware_process_alive_monitor)/config/autoware_process_alive_monitor.param.yaml"/>
+
+  <!-- Set log level -->
+  <arg name="log_level" default="info"/>
+
+  <node pkg="autoware_process_alive_monitor" exec="autoware_process_alive_monitor_node" name="process_alive_monitor" output="screen" args="--ros-args --log-level $(var log_level)">
+    <!-- Parameter -->
+    <param from="$(var config_file)"/>
+  </node>
+</launch>

system/autoware_node_death_monitor/package.xml → system/autoware_process_alive_monitor/package.xml

@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
-  <name>autoware_node_death_monitor</name>
+  <name>autoware_process_alive_monitor</name>
   <version>0.0.1</version>
-  <description>The node_death_monitor package</description>
+  <description>The process_alive_monitor package</description>
 
   <maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
   <license>Apache License 2.0</license>

system/autoware_node_death_monitor/src/autoware_node_death_monitor.cpp → system/autoware_process_alive_monitor/src/autoware_process_alive_monitor.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware_node_death_monitor/autoware_node_death_monitor.hpp"
+#include "autoware_process_alive_monitor/autoware_process_alive_monitor.hpp"
 
 #include <filesystem>
 #include <fstream>
@@ -22,7 +22,7 @@
 
 namespace fs = std::filesystem;
 
-namespace autoware::node_death_monitor
+namespace autoware::process_alive_monitor
 {
 
 /**
@@ -76,8 +76,8 @@ static fs::path find_latest_launch_log()
   return fs::path();
 }
 
-NodeDeathMonitor::NodeDeathMonitor(const rclcpp::NodeOptions & options)
-: Node("autoware_node_death_monitor", options)
+ProcessAliveMonitor::ProcessAliveMonitor(const rclcpp::NodeOptions & options)
+: Node("autoware_process_alive_monitor", options)
 {
   ignore_node_names_ =
     declare_parameter<std::vector<std::string>>("ignore_node_names", std::vector<std::string>{});
@@ -109,10 +109,10 @@ NodeDeathMonitor::NodeDeathMonitor(const rclcpp::NodeOptions & options)
 
   auto interval_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(
     std::chrono::duration<double>(check_interval_));
-  timer_ = create_wall_timer(interval_ns, std::bind(&NodeDeathMonitor::on_timer, this));
+  timer_ = create_wall_timer(interval_ns, std::bind(&ProcessAliveMonitor::on_timer, this));
 }
 
-void NodeDeathMonitor::read_launch_log_diff()
+void ProcessAliveMonitor::read_launch_log_diff()
 {
   if (launch_log_path_.empty()) {
     return;
@@ -150,7 +150,7 @@ void NodeDeathMonitor::read_launch_log_diff()
   std::streampos last_valid_pos = static_cast<std::streampos>(last_file_pos_);
 
   size_t iteration = 0;
-  while (true) {
+  while (rclcpp::ok) {
     // Check current position
     std::streampos current_pos_start = ifs.tellg();
     if (current_pos_start == std::streampos(-1)) {
@@ -200,7 +200,7 @@ void NodeDeathMonitor::read_launch_log_diff()
   }
 }
 
-void NodeDeathMonitor::parse_log_line(const std::string & line)
+void ProcessAliveMonitor::parse_log_line(const std::string & line)
 {
   const std::string target_str = "process has died";
   if (line.find(target_str) == std::string::npos) {
@@ -286,7 +286,7 @@ void NodeDeathMonitor::parse_log_line(const std::string & line)
   }
 }
 
-void NodeDeathMonitor::on_timer()
+void ProcessAliveMonitor::on_timer()
 {
   read_launch_log_diff();
 
@@ -304,7 +304,7 @@ void NodeDeathMonitor::on_timer()
   }
 }
 
-}  // namespace autoware::node_death_monitor
+}  // namespace autoware::process_alive_monitor
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(autoware::node_death_monitor::NodeDeathMonitor)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::process_alive_monitor::ProcessAliveMonitor)