main.cpp

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/*
 * Copyright 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License").
 * You may not use this file except in compliance with the License.
 * A copy of the License is located at
 *
 *  http://aws.amazon.com/apache2.0
 *
 * or in the "license" file accompanying this file. This file is distributed
 * on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either
 * express or implied. See the License for the specific language governing
 * permissions and limitations under the License.
 */


#include <aws/core/Aws.h>
#include <aws/core/client/ClientConfiguration.h>
#include <aws/core/utils/StringUtils.h>
#include <aws/core/utils/logging/AWSLogging.h>
#include <aws/core/utils/logging/LogMacros.h>
#include <aws/monitoring/CloudWatchClient.h>
#include <aws/monitoring/model/PutMetricDataRequest.h>
#include <aws_common/sdk_utils/client_configuration_provider.h>
#include <aws_ros1_common/sdk_utils/logging/aws_ros_logger.h>
#include <aws_ros1_common/sdk_utils/ros1_node_parameter_reader.h>
#include <ros/ros.h>
#include <ros_monitoring_msgs/MetricData.h>
#include <ros_monitoring_msgs/MetricDimension.h>
#include <ros_monitoring_msgs/MetricList.h>
#include <std_msgs/String.h>

#include <cloudwatch_metrics_collector/metrics_collector.hpp>
#include <cloudwatch_metrics_common/metric_service.hpp>
#include <cloudwatch_metrics_common/metric_service_factory.hpp>
#include <string>
#include <vector>
#include <map>

#include <aws_common/sdk_utils/parameter_reader.h>

#include <cloudwatch_metrics_collector/metrics_collector_parameter_helper.hpp>
#include <cloudwatch_metrics_common/cloudwatch_options.h>

using Aws::CloudWatchMetrics::Utils::kNodeName;
using Aws::CloudWatchMetrics::Utils::kNodeDefaultMetricDatumStorageResolution;
using Aws::CloudWatchMetrics::Utils::MetricsCollector;

int main(int argc, char * argv[])
{
  int status = 0;
  ros::init(argc, argv, kNodeName);
  ros::NodeHandle node_handle;

  std::vector<ros::Subscriber> subscriptions;

  // initialize SDK logging
  Aws::Utils::Logging::InitializeAWSLogging(Aws::MakeShared<Aws::Utils::Logging::AWSROSLogger>(kNodeName.c_str()));

  //-----------Start Read Configuration Parameters---------------------

  std::shared_ptr<Aws::Client::ParameterReaderInterface> parameter_reader =
          std::make_shared<Aws::Client::Ros1NodeParameterReader>();

  // SDK client config
  Aws::Client::ClientConfigurationProvider client_config_provider(parameter_reader);
  Aws::Client::ClientConfiguration client_config = client_config_provider.GetClientConfiguration();

  Aws::SDKOptions sdk_options;

  double publish_frequency;

  std::string metric_namespace;
  Aws::String dimensions_param;
  std::map<std::string, std::string> default_metric_dims;

  // Load the storage resolution
  int storage_resolution = kNodeDefaultMetricDatumStorageResolution;
  Aws::CloudWatchMetrics::CloudWatchOptions cloudwatch_options;

  Aws::CloudWatchMetrics::Utils::ReadPublishFrequency(parameter_reader, publish_frequency);
  Aws::CloudWatchMetrics::Utils::ReadMetricNamespace(parameter_reader, metric_namespace);
  Aws::CloudWatchMetrics::Utils::ReadMetricDimensions(parameter_reader, dimensions_param, default_metric_dims);
  Aws::CloudWatchMetrics::Utils::ReadStorageResolution(parameter_reader, storage_resolution);

  Aws::CloudWatchMetrics::Utils::ReadCloudWatchOptions(parameter_reader, cloudwatch_options);
  //-----------------End read configuration parameters-----------------------

  // create the metric collector
  Aws::CloudWatchMetrics::Utils::MetricsCollector metrics_collector;

  // initialize with options read from the config file
  metrics_collector.Initialize(
          metric_namespace,
          default_metric_dims,
          storage_resolution,
          node_handle,
          client_config,
          sdk_options,
          cloudwatch_options);

  ros::ServiceServer service = node_handle.advertiseService(kNodeName,
                                                            &Aws::CloudWatchMetrics::Utils::MetricsCollector::checkIfOnline,
                                                            &metrics_collector);

  // start the collection process
  metrics_collector.start();

  bool publish_when_size_reached = cloudwatch_options.uploader_options.batch_trigger_publish_size
    != Aws::DataFlow::kDefaultUploaderOptions.batch_trigger_publish_size;

  ros::Timer timer;
  // Publish on a timer if we are not publishing on a size limit.
  if (!publish_when_size_reached) {
    timer =
      node_handle.createTimer(ros::Duration(publish_frequency),
                              &Aws::CloudWatchMetrics::Utils::MetricsCollector::TriggerPublish,
                              &metrics_collector);
  }

  ros::spin();

  AWS_LOG_INFO(__func__, "Shutting down Metrics Collector ...");
  metrics_collector.shutdown();
  Aws::Utils::Logging::ShutdownAWSLogging();
  ros::shutdown();
  return status;
}