Update of /cvsroot/playerstage/code/player/server/drivers/health/statgrab
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv8365/server/drivers/health/statgrab
Added Files:
Makefile.am statgrab_health.cpp statgrab_health.h
Log Message:
Added health proxy for monitoring system statistics
--- NEW FILE: statgrab_health.h ---
#include <stdint.h>
#include <libplayercore/playercore.h>
extern "C"
{
#include <statgrab.h>
}
////////////////////////////////////////////////////////////////////////////////
// The class for the driver
class StatGrabDriver : public Driver
{
public:
StatGrabDriver(ConfigFile* cf, int section);
// Must implement the following methods.
int Setup();
int Shutdown();
private:
// Main function for device thread.
virtual void Main();
void RefreshData();
// Structure for specific process data
// Structure holding Swap data
sg_swap_stats *swap_stats;
// Structure holding CPU data
sg_cpu_percents *cpu_percent;
// Structure holding memory stat
sg_mem_stats *mem_data;
double mem_percent;
// Health Interface
player_devaddr_t mHealthId;
player_health_data_t mHealth;
// For status checking priviledge
int status;
int32_t mSleep;
};
--- NEW FILE: statgrab_health.cpp ---
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
/** Player driver for the health of a robot.
*
* @author Raphael Sznitman
* @date 23.06.2005*/
/** @ingroup drivers */
/** @{ */
/**
* @defgroup driver_statgrab statgrab
The @p health driver allows for a user to get general systems data concerning a
specific robot.
Allows a user to look at cpu and memory usage of the robot.
@par Provides
- @ref player_interface_health : Interface to the health
@par Configuration file options:
- frequency (int)
- Default: 100
@par Notes
@par libstatgrab:
The driver uses the library libstatgrab in order to fetch data concerning the
cpu and the
memory usage. Documentation on this library can be found at:
http://www.i-scream.org/libstatgrab/.
@par Example: The following configuration file should demonstrate the use of
this
driver.
@include health.cfg
@todo
- Test this code more!
- Allow for the driver to return the temperature of the system in multiple
location of the robot.
- Also allow for the battery voltage to be monitored.
*/
/** @} */
#include "statgrab_health.h"
#include <unistd.h>
#include <string.h>
#include <netinet/in.h>
#include <player/drivertable.h>
#include <player/driver.h>
#include <player.h>
#include <stdio.h>
#include <stdlib.h>
#include <iostream>
#include <stdint.h>
using namespace std;
////////////////////////////////////////////////////////////////////////////////
// Now the driver
// A factory creation function, declared outside of the class so that it
// can be invoked without any object context (alternatively, you can
// declare it static in the class). In this function, we create and return
// (as a generic Driver*) a pointer to a new instance of this driver.
Driver*
StatGrabDriver_Init(ConfigFile* cf, int section)
{
// Create and return a new instance of this driver
return((Driver*)(new StatGrabDriver(cf, section)));
}
// A driver registration function, again declared outside of the class so
// that it can be invoked without object context. In this function, we add
// the driver into the given driver table, indicating which interface the
// driver can support and how to create a driver instance.
void StatGrabDriver_Register(DriverTable* table)
{
table->AddDriver("statgrabdriver", StatGrabDriver_Init);
}
////////////////////////////////////////////////////////////////////////////////
// Constructor. Retrieve options from the configuration file and do any
// pre-Setup() setup.
StatGrabDriver::StatGrabDriver(ConfigFile* cf, int section)
: Driver(cf, section)
{
// For Health Interface
if(cf->ReadDeviceAddr(&mHealthId, section, "provides",
PLAYER_HEALTH_CODE, -1, NULL) == 0)
{
if(this->AddInterface(mHealthId))
{
this->SetError(-1);
return;
}
}
// Allow to just have to change the config file if you want to adjust the
sleep
// duration.
mSleep = static_cast<int32_t>((1e6/cf->ReadInt(section, "frequency", 100)));
return;
}
////////////////////////////////////////////////////////////////////////////////
// Set up the device. Return 0 if things go well, and -1 otherwise.
int StatGrabDriver::Setup()
{
// Initialise statgrab
sg_init();
/* Drop setuid/setgid privileges. */
if (sg_drop_privileges() != 0)
{
perror("Error. Failed to drop privileges");
return 1;
}
puts("Health driver ready");
StartThread();
return(0);
}
////////////////////////////////////////////////////////////////////////////////
// Shutdown the device
int StatGrabDriver::Shutdown()
{
puts("Shutting health driver down");
sg_shutdown();
// Stop and join the driver thread
StopThread();
puts("Health driver has been shutdown");
return(0);
}
////////////////////////////////////////////////////////////////////////////////
// Main function for device thread
void StatGrabDriver::Main()
{
// The main loop; interact with the device here
for(;;)
{
// test if we are supposed to cancel
pthread_testcancel();
usleep(mSleep);
ProcessMessages();
// Write outgoing data
RefreshData();
}
return;
}
////////////////////////////////////////////////////////////////////////////////
void StatGrabDriver::RefreshData()
{
//double receivedCpu;
float cpuIdle, cpuServer, cpuUser ;
//CPU
cpu_percent = sg_get_cpu_percents();
cpuIdle = cpu_percent->idle;
mHealth.cpu_usage.idle = cpuIdle;
cpuServer = cpu_percent->kernel + cpu_percent->iowait +
cpu_percent->swap;
mHealth.cpu_usage.system = cpuServer;
cpuUser = cpu_percent->nice+ cpu_percent->user;
mHealth.cpu_usage.user = cpuUser;
//Virtual Memory
mem_data = sg_get_mem_stats();
swap_stats = sg_get_swap_stats();
mHealth.mem.total = mem_data->total;
mHealth.mem.used = mem_data->used;
mHealth.mem.free = mem_data->free;
mHealth.swap.total = swap_stats->total;
mHealth.swap.used = swap_stats->used;
mHealth.swap.free = swap_stats->free;
// Other data which should be retrieved here!
Publish(device_addr, NULL, PLAYER_MSGTYPE_DATA, PLAYER_HEALTH_DATA ,
reinterpret_cast<void*>(&mHealth), sizeof(mHealth), NULL);
}
////////////////////////////////////////////////////////////////////////////////
// Extra stuff for building a shared object.
/* need the extern to avoid C++ name-mangling */
extern "C" {
int player_driver_init(DriverTable* table)
{
puts("StatGrab driver initializing");
StatGrabDriver_Register(table);
puts("StatGrab driver done");
return(0);
}
}
--- NEW FILE: Makefile.am ---
AM_CPPFLAGS = -Wall -I$(top_srcdir)
noinst_LTLIBRARIES =
if INCLUDE_STATGRAB
noinst_LTLIBRARIES += libstatgrab.la
endif
libstatgrab_la_SOURCES = statgrab_health.cpp
#libstatgrab_la_LIBADD += -lstatgrab
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