Monitors a single node process. More...

#include <node_monitor.h>

Public Types
typedef std::shared_ptr< NodeMonitor >	ConstPtr

typedef std::shared_ptr< NodeMonitor >	Ptr

enum	State { STATE_IDLE, STATE_RUNNING, STATE_CRASHED, STATE_WAITING }
	Process state. More...

Public Member Functions
std::string	fullName () const
	Full name including namespace. More...

bool	isMuted () const

std::string	name () const
	Node name. More...

std::string	namespaceString () const
	Node namespace. More...

	NodeMonitor (launch::Node::ConstPtr launchNode, FDWatcher::Ptr fdWatcher, ros::NodeHandle &nh)
	Constructor. More...

int	pid () const
	Node PID. More...

void	setMuted (bool muted)

double	stopTimeout () const
	Node stop timeout. More...

	~NodeMonitor ()

Starting & stopping
void	start ()
	Start the node. More...

void	stop (bool restart=false)
	Stop the node. More...

void	restart ()
	Restart the node. More...

void	shutdown ()
	Start shutdown sequence. More...

void	forceExit ()
	Finish shutdown sequence. More...

bool	running () const
	Is the node running? More...

State	state () const
	Get process state. More...

Debugging
bool	coredumpAvailable () const
	Is a core dump available from a crash under rosmon control? More...

std::string	debuggerCommand () const
	What command should we use to debug the coredump? More...

void	launchDebugger ()
	Launch gdb interactively. More...

Statistics
void	beginStatUpdate ()

void	addCPUTime (uint64_t userTime, uint64_t systemTime)

void	addMemory (uint64_t memoryBytes)

void	endStatUpdate (double elapsedTimeInTicks)

double	userLoad () const
	Estimate of the userspace load. More...

double	systemLoad () const
	Estimate of the kernelspace load. More...

uint64_t	memory () const
	Total system memory used by the node. More...

unsigned int	restartCount () const

uint64_t	memoryLimit () const

double	cpuLimit () const

Public Attributes
boost::signals2::signal< void(std::string)>	exitedSignal
	Signalled whenever the process exits. More...

boost::signals2::signal< void(LogEvent)>	logMessageSignal
	Logging signal. More...

Private Types
enum	Command { CMD_RUN, CMD_STOP, CMD_RESTART }

Private Member Functions
void	checkStop ()

void	communicate ()

void	communicateStderr ()

std::vector< std::string >	composeCommand () const

void	gatherCoredump (int signal)

template<typename... Args>
void	log (const char *format, Args &&...args)

template<typename... Args>
void	logTyped (LogEvent::Type type, const char *format, Args &&...args)

Private Attributes
Command	m_command

std::string	m_debuggerCommand

int	m_exitCode

int	m_fd = -1

FDWatcher::Ptr	m_fdWatcher

bool	m_firstStart = true

std::string	m_lastWorkingDirectory

launch::Node::ConstPtr	m_launchNode

uint64_t	m_memory = 0

bool	m_muted = false

int	m_pid = -1

std::string	m_processWorkingDirectory

bool	m_processWorkingDirectoryCreated = false

unsigned int	m_restartCount = 0

bool	m_restarting

ros::WallTimer	m_restartTimer

boost::circular_buffer< char >	m_rxBuffer

boost::circular_buffer< char >	m_stderrBuffer

int	m_stderrFD = -1

ros::WallTimer	m_stopCheckTimer

double	m_systemLoad = 0.0

uint64_t	m_systemTime = 0

double	m_userLoad = 0.0

uint64_t	m_userTime = 0

Detailed Description

Monitors a single node process.

Definition at line 25 of file node_monitor.h.

Member Typedef Documentation

typedef std::shared_ptr<NodeMonitor> rosmon::monitor::NodeMonitor::ConstPtr

Definition at line 29 of file node_monitor.h.

typedef std::shared_ptr<NodeMonitor> rosmon::monitor::NodeMonitor::Ptr

Definition at line 28 of file node_monitor.h.

Member Enumeration Documentation

enum rosmon::monitor::NodeMonitor::Command

private

Enumerator
CMD_RUN
CMD_STOP
CMD_RESTART

Definition at line 197 of file node_monitor.h.

enum rosmon::monitor::NodeMonitor::State

Process state.

Enumerator
STATE_IDLE	Idle (e.g. exited with code 0)
STATE_RUNNING	Running.
STATE_CRASHED	Crashed (i.e. exited with code != 0)
STATE_WAITING	Waiting for automatic restart after crash.

Definition at line 32 of file node_monitor.h.

Constructor & Destructor Documentation

rosmon::monitor::NodeMonitor::NodeMonitor	(	launch::Node::ConstPtr	launchNode,
		FDWatcher::Ptr	fdWatcher,
		ros::NodeHandle &	nh
	)

Constructor.

Parameters

launchNode	Corresponding launch::Node instance
fdWatcher	FDWatcher instance to register in
nh	ros::NodeHandle to use for creating timers

Definition at line 93 of file node_monitor.cpp.

rosmon::monitor::NodeMonitor::~NodeMonitor ( )

Definition at line 136 of file node_monitor.cpp.

Member Function Documentation

void rosmon::monitor::NodeMonitor::addCPUTime	(	uint64_t	userTime,
		uint64_t	systemTime
	)

Definition at line 758 of file node_monitor.cpp.

void rosmon::monitor::NodeMonitor::addMemory ( uint64_t memoryBytes )

Definition at line 764 of file node_monitor.cpp.

void rosmon::monitor::NodeMonitor::beginStatUpdate ( )

Definition at line 751 of file node_monitor.cpp.

void rosmon::monitor::NodeMonitor::checkStop ( )

private

Definition at line 322 of file node_monitor.cpp.

void rosmon::monitor::NodeMonitor::communicate ( )

private

Definition at line 424 of file node_monitor.cpp.

void rosmon::monitor::NodeMonitor::communicateStderr ( )

private

Definition at line 379 of file node_monitor.cpp.

std::vector< std::string > rosmon::monitor::NodeMonitor::composeCommand ( ) const

private

Definition at line 144 of file node_monitor.cpp.

bool rosmon::monitor::NodeMonitor::coredumpAvailable ( ) const

inline

Is a core dump available from a crash under rosmon control?

Definition at line 89 of file node_monitor.h.

double rosmon::monitor::NodeMonitor::cpuLimit ( ) const

inline

Definition at line 155 of file node_monitor.h.

std::string rosmon::monitor::NodeMonitor::debuggerCommand ( ) const

inline

What command should we use to debug the coredump?

See also: coredumpAvailable()

Definition at line 97 of file node_monitor.h.

void rosmon::monitor::NodeMonitor::endStatUpdate ( double elapsedTimeInTicks )

Definition at line 769 of file node_monitor.cpp.

void rosmon::monitor::NodeMonitor::forceExit ( )

Finish shutdown sequence.

If the node is still running, this sends SIGKILL and prints a warning.

Definition at line 352 of file node_monitor.cpp.

std::string rosmon::monitor::NodeMonitor::fullName ( ) const

inline

Full name including namespace.

Definition at line 169 of file node_monitor.h.

void rosmon::monitor::NodeMonitor::gatherCoredump ( int signal )

private

Definition at line 590 of file node_monitor.cpp.

bool rosmon::monitor::NodeMonitor::isMuted ( ) const

inline

Definition at line 184 of file node_monitor.h.

void rosmon::monitor::NodeMonitor::launchDebugger ( )

Launch gdb interactively.

This opens gdb in a new terminal window. If X11 is not available, the gdb command is emitted via logMessageSignal().

If a coredump is available (see coredumpAvailable()), gdb is launched against the coredump instead of the running process.

Definition at line 712 of file node_monitor.cpp.

template<typename... Args>

void rosmon::monitor::NodeMonitor::log	(	const char *	format,
		Args &&...	args
	)

private

Definition at line 567 of file node_monitor.cpp.

template<typename... Args>

void rosmon::monitor::NodeMonitor::logTyped	(	LogEvent::Type	type,
		const char *	format,
		Args &&...	args
	)

private

Definition at line 573 of file node_monitor.cpp.

uint64_t rosmon::monitor::NodeMonitor::memory ( ) const

inline

Total system memory used by the node.

This includes child processes. Only resident memory is counted (i.e. how much physical memory is used).

Returns: Memory usage in bytes

Definition at line 146 of file node_monitor.h.

uint64_t rosmon::monitor::NodeMonitor::memoryLimit ( ) const

inline

Definition at line 152 of file node_monitor.h.

std::string rosmon::monitor::NodeMonitor::name ( ) const

inline

Node name.

Definition at line 161 of file node_monitor.h.

std::string rosmon::monitor::NodeMonitor::namespaceString ( ) const

inline

Node namespace.

Definition at line 165 of file node_monitor.h.

int rosmon::monitor::NodeMonitor::pid ( ) const

inline

Node PID.

Definition at line 175 of file node_monitor.h.

void rosmon::monitor::NodeMonitor::restart ( )

Restart the node.

Definition at line 333 of file node_monitor.cpp.

unsigned int rosmon::monitor::NodeMonitor::restartCount ( ) const

inline

Definition at line 149 of file node_monitor.h.

bool rosmon::monitor::NodeMonitor::running ( ) const

Is the node running?

Definition at line 360 of file node_monitor.cpp.

void rosmon::monitor::NodeMonitor::setMuted ( bool muted )

Definition at line 775 of file node_monitor.cpp.

void rosmon::monitor::NodeMonitor::shutdown ( )

Start shutdown sequence.

If the node is still running, this sends SIGINT.

Definition at line 344 of file node_monitor.cpp.

void rosmon::monitor::NodeMonitor::start ( )

Start the node.

Definition at line 175 of file node_monitor.cpp.

NodeMonitor::State rosmon::monitor::NodeMonitor::state ( ) const

Get process state.

Definition at line 365 of file node_monitor.cpp.

void rosmon::monitor::NodeMonitor::stop ( bool restart = false )

Stop the node.

Definition at line 301 of file node_monitor.cpp.

double rosmon::monitor::NodeMonitor::stopTimeout ( ) const

inline

Node stop timeout.

Definition at line 179 of file node_monitor.h.

double rosmon::monitor::NodeMonitor::systemLoad ( ) const

inline

Estimate of the kernelspace load.

This is the fraction of CPU time spent in kernelspace code of this node. Note that this value is relative to one CPU core.

Definition at line 135 of file node_monitor.h.

double rosmon::monitor::NodeMonitor::userLoad ( ) const

inline

Estimate of the userspace load.

This is the fraction of CPU time spent in userspace code of this node. Note that this value is relative to one CPU core.

Definition at line 126 of file node_monitor.h.

Member Data Documentation

boost::signals2::signal<void(std::string)> rosmon::monitor::NodeMonitor::exitedSignal

Signalled whenever the process exits.

Definition at line 195 of file node_monitor.h.

boost::signals2::signal<void(LogEvent)> rosmon::monitor::NodeMonitor::logMessageSignal

Logging signal.

Contains a log message (node name, message) to be printed or saved in a log file.

Definition at line 192 of file node_monitor.h.

Command rosmon::monitor::NodeMonitor::m_command

private

Definition at line 233 of file node_monitor.h.

std::string rosmon::monitor::NodeMonitor::m_debuggerCommand

private

Definition at line 237 of file node_monitor.h.

int rosmon::monitor::NodeMonitor::m_exitCode

private

Definition at line 228 of file node_monitor.h.

int rosmon::monitor::NodeMonitor::m_fd = -1

private

Definition at line 226 of file node_monitor.h.

FDWatcher::Ptr rosmon::monitor::NodeMonitor::m_fdWatcher

private

Definition at line 220 of file node_monitor.h.

bool rosmon::monitor::NodeMonitor::m_firstStart = true

private

Definition at line 251 of file node_monitor.h.

std::string rosmon::monitor::NodeMonitor::m_lastWorkingDirectory

private

Definition at line 248 of file node_monitor.h.

launch::Node::ConstPtr rosmon::monitor::NodeMonitor::m_launchNode

private

Definition at line 218 of file node_monitor.h.

uint64_t rosmon::monitor::NodeMonitor::m_memory = 0

private

Definition at line 245 of file node_monitor.h.

bool rosmon::monitor::NodeMonitor::m_muted = false

private

Definition at line 253 of file node_monitor.h.

int rosmon::monitor::NodeMonitor::m_pid = -1

private

Definition at line 225 of file node_monitor.h.

std::string rosmon::monitor::NodeMonitor::m_processWorkingDirectory

private

Definition at line 247 of file node_monitor.h.

bool rosmon::monitor::NodeMonitor::m_processWorkingDirectoryCreated = false

private

Definition at line 249 of file node_monitor.h.

unsigned int rosmon::monitor::NodeMonitor::m_restartCount = 0

private

Definition at line 239 of file node_monitor.h.

bool rosmon::monitor::NodeMonitor::m_restarting

private

Definition at line 235 of file node_monitor.h.

ros::WallTimer rosmon::monitor::NodeMonitor::m_restartTimer

private

Definition at line 231 of file node_monitor.h.

boost::circular_buffer<char> rosmon::monitor::NodeMonitor::m_rxBuffer

private

Definition at line 222 of file node_monitor.h.

boost::circular_buffer<char> rosmon::monitor::NodeMonitor::m_stderrBuffer

private

Definition at line 223 of file node_monitor.h.

int rosmon::monitor::NodeMonitor::m_stderrFD = -1

private

Definition at line 227 of file node_monitor.h.

ros::WallTimer rosmon::monitor::NodeMonitor::m_stopCheckTimer

private

Definition at line 230 of file node_monitor.h.

double rosmon::monitor::NodeMonitor::m_systemLoad = 0.0

private

Definition at line 244 of file node_monitor.h.

uint64_t rosmon::monitor::NodeMonitor::m_systemTime = 0

private

Definition at line 242 of file node_monitor.h.

double rosmon::monitor::NodeMonitor::m_userLoad = 0.0

private

Definition at line 243 of file node_monitor.h.

uint64_t rosmon::monitor::NodeMonitor::m_userTime = 0

private

Definition at line 241 of file node_monitor.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Public Attributes

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation