Merge pull request #454 from pawelir/add-panther-diagnostics-config

The panther_diagnostics reconfiguration
husarion · Dec 13, 2024 · 836d3ec · 836d3ec
2 parents 997bb1c + 4d7f8f4
commit 836d3ec
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Showing 4 changed files with 57 additions and 28 deletions.
diff --git a/husarion_ugv_diagnostics/CMakeLists.txt b/husarion_ugv_diagnostics/CMakeLists.txt
@@ -37,7 +37,8 @@ set(ENV{PKG_CONFIG_PATH} "${CPPUPROFILE_PREFIX}/lib:$ENV{PKG_CONFIG_PATH}")
 
 pkg_check_modules(CPPUPROFILE REQUIRED IMPORTED_TARGET cppuprofile)
 
-generate_parameter_library(system_monitor_parameters config/system_monitor.yaml)
+generate_parameter_library(system_monitor_parameters
+                           src/system_monitor_parameters.yaml)
 
 add_executable(system_monitor_node src/main.cpp src/system_monitor_node.cpp)
 target_include_directories(system_monitor_node

diff --git a/husarion_ugv_diagnostics/config/system_monitor.yaml b/husarion_ugv_diagnostics/config/system_monitor.yaml
@@ -1,26 +1,8 @@
-system_monitor:
-  cpu_usage_warn_threshold:
-    type: double
-    default_value: 95.0
-    description: Threshold for CPU usage warning in percentage.
-    validation: { bounds<>: [0.0, 100.0] }
-  cpu_temperature_warn_threshold:
-    type: double
-    default_value: 80.0
-    description: Threshold for CPU temperature warning in degrees Celsius.
-    validation: { bounds<>: [0.0, 1000.0] }
-  ram_usage_warn_threshold:
-    type: double
-    default_value: 95.0
-    description: Threshold for memory usage warning in percentage.
-    validation: { bounds<>: [0.0, 100.0] }
-  disk_usage_warn_threshold:
-    type: double
-    default_value: 95.0
-    description: Threshold for disk usage warning in percentage.
-    validation: { bounds<>: [0.0, 100.0] }
-  publish_frequency:
-    type: double
-    default_value: 5.0
-    description: System status publishing frequency [Hz].
-    validation: { bounds<>: [0.1, 10.0] }
+/**:
+  system_monitor:
+    ros__parameters:
+      cpu_usage_warn_threshold: 95.0
+      cpu_temperature_warn_threshold: 80.0
+      ram_usage_warn_threshold: 90.0
+      disk_usage_warn_threshold: 90.0
+      publish_frequency: 5.0
diff --git a/husarion_ugv_diagnostics/launch/system_monitor.launch.py b/husarion_ugv_diagnostics/launch/system_monitor.launch.py
@@ -16,8 +16,13 @@
 
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
-from launch.substitutions import EnvironmentVariable, LaunchConfiguration
+from launch.substitutions import (
+    EnvironmentVariable,
+    LaunchConfiguration,
+    PathJoinSubstitution,
+)
 from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description():
@@ -28,17 +33,32 @@ def generate_launch_description():
         description="Add namespace to all launched nodes",
     )
 
+    system_monitor_config_path = LaunchConfiguration("system_monitor_config_path")
+    declare_system_monitor_config_path_arg = DeclareLaunchArgument(
+        "system_monitor_config_path",
+        default_value=PathJoinSubstitution(
+            [
+                FindPackageShare("husarion_ugv_diagnostics"),
+                "config",
+                "system_monitor.yaml",
+            ]
+        ),
+        description="Specify the path to the system monitor configuration file.",
+    )
+
     system_monitor_node = Node(
         package="husarion_ugv_diagnostics",
         executable="system_monitor_node",
         name="system_monitor",
+        parameters=[system_monitor_config_path],
         namespace=namespace,
         remappings=[("/diagnostics", "diagnostics")],
         emulate_tty=True,
     )
 
     actions = [
         declare_namespace_arg,
+        declare_system_monitor_config_path_arg,
         system_monitor_node,
     ]
 

diff --git a/husarion_ugv_diagnostics/src/system_monitor_parameters.yaml b/husarion_ugv_diagnostics/src/system_monitor_parameters.yaml
@@ -0,0 +1,26 @@
+system_monitor:
+  cpu_usage_warn_threshold:
+    type: double
+    default_value: 95.0
+    description: Threshold for CPU usage warning in percentage.
+    validation: { bounds<>: [0.0, 100.0] }
+  cpu_temperature_warn_threshold:
+    type: double
+    default_value: 80.0
+    description: Threshold for CPU temperature warning in degrees Celsius.
+    validation: { bounds<>: [0.0, 120.0] }
+  ram_usage_warn_threshold:
+    type: double
+    default_value: 90.0
+    description: Threshold for memory usage warning in percentage.
+    validation: { bounds<>: [0.0, 100.0] }
+  disk_usage_warn_threshold:
+    type: double
+    default_value: 90.0
+    description: Threshold for disk usage warning in percentage.
+    validation: { bounds<>: [0.0, 100.0] }
+  publish_frequency:
+    type: double
+    default_value: 5.0
+    description: System status publishing frequency [Hz].
+    validation: { bounds<>: [0.1, 10.0] }