ram_monitor.py

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#!/usr/bin/env python
#
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# \author Rein Appeldoorn
 
import collections
import socket
 
import psutil
import rospy
from diagnostic_msgs.msg import DiagnosticStatus
from diagnostic_updater import DiagnosticTask, Updater
 
 
class RamTask(DiagnosticTask):
    def __init__(self, warning_percentage, window=1):
        DiagnosticTask.__init__(self, "RAM Information")
        self._warning_percentage = int(warning_percentage)
        self._readings = collections.deque(maxlen=window)
 
    def run(self, stat):
        self._readings.append(psutil.virtual_memory().percent)
        ram_average = sum(self._readings) / len(self._readings)
 
        stat.add("RAM Load Average", "{:.2f}".format(ram_average))
 
        if ram_average > self._warning_percentage:
            stat.summary(DiagnosticStatus.WARN,
                         "RAM Average exceeds {:d} percent".format(self._warning_percentage))
        else:
            stat.summary(DiagnosticStatus.OK, "RAM Average {:.2f} percent".format(ram_average))
 
        return stat
 
 
def main():
    hostname = socket.gethostname()
    rospy.init_node('ram_monitor_%s' % hostname.replace("-", "_"))
 
    updater = Updater()
    updater.setHardwareID(hostname)
    updater.add(RamTask(rospy.get_param("~warning_percentage", 90), rospy.get_param("~window", 1)))
 
    rate = rospy.Rate(rospy.get_param("~rate", 1))
    while not rospy.is_shutdown():
        rate.sleep()
        updater.update()
 
 
if __name__ == '__main__':
    try:
        main()
    except (rospy.ROSInterruptException, KeyboardInterrupt) as e:
        pass