From 002849c756eb9530280f3abec49069b7ece207ed Mon Sep 17 00:00:00 2001 From: TetsuKawa Date: Fri, 10 May 2024 18:36:57 +0900 Subject: [PATCH 1/9] feat: add cgroup_setter node Signed-off-by: TetsuKawa --- system/cgroup_setter/CMakeLists.txt | 21 ++ system/cgroup_setter/README.md | 80 +++++++ system/cgroup_setter/config/cgroup.yaml | 4 + .../launch/cgroup_setter.launch.xml | 6 + system/cgroup_setter/package.xml | 26 +++ system/cgroup_setter/src/cgroup_setter.cpp | 205 ++++++++++++++++++ system/cgroup_setter/src/cgroup_setter.hpp | 49 +++++ 7 files changed, 391 insertions(+) create mode 100644 system/cgroup_setter/CMakeLists.txt create mode 100644 system/cgroup_setter/README.md create mode 100644 system/cgroup_setter/config/cgroup.yaml create mode 100644 system/cgroup_setter/launch/cgroup_setter.launch.xml create mode 100644 system/cgroup_setter/package.xml create mode 100644 system/cgroup_setter/src/cgroup_setter.cpp create mode 100644 system/cgroup_setter/src/cgroup_setter.hpp diff --git a/system/cgroup_setter/CMakeLists.txt b/system/cgroup_setter/CMakeLists.txt new file mode 100644 index 0000000000000..3882ea9781e9e --- /dev/null +++ b/system/cgroup_setter/CMakeLists.txt @@ -0,0 +1,21 @@ +cmake_minimum_required(VERSION 3.14) +project(cgroup_setter) + +find_package(autoware_cmake REQUIRED) +find_package(yaml-cpp REQUIRED) +find_package(Boost REQUIRED COMPONENTS filesystem system) +include_directories(${Boost_INCLUDE_DIRS}) + +autoware_package() + +ament_auto_add_executable(${PROJECT_NAME} + src/cgroup_setter.cpp +) + +target_link_libraries(cgroup_setter yaml-cpp) +target_link_libraries(cgroup_setter ${Boost_LIBRARIES}) + +ament_auto_package(INSTALL_TO_SHARE + launch + config +) diff --git a/system/cgroup_setter/README.md b/system/cgroup_setter/README.md new file mode 100644 index 0000000000000..82ecfe5a5cfd5 --- /dev/null +++ b/system/cgroup_setter/README.md @@ -0,0 +1,80 @@ +# cgroup_setter + +## Purpose + +This package set a PID to a custom cgroup. +The PID is found by `pgrep -f`. + +## Inputs / Outputs + +### Outputs + +| Name | Type | Description | +| -------------- | ---------------------------------------- | ------------------- | +| `/diagnostics` | `diagnostic_msgs::msgs::DiagnosticArray` | Diagnostics outputs | + +## Parameters + +### Node Parameters + +| Name | Type | Default Value | Explanation | Reconfigurable | +| --------------------------- | ------ | --------------------------------------------------- | --------------------------------------- | -------------- | +| `cgroup_setting_config_path`| string | `$(find-pkg-share cgroup_setter)/config/cgroup.yaml`| yaml file path | | + +### YAML format for cgroup_setter + +format +```yaml +base_path: "/sys/fs/cgroup" +settings: + - directory: "xxx/xxx" + search_word: + - "xxxxx" +``` +The following is an example of joining the PID from running `pgrep -f` +with the keyword `__node:=system_monitor_container` to a cgroup named `/sys/fs/cgrpi/autoware/system_monitor`. + +example +```yaml +base_path: "/sys/fs/cgroup" +settings: + - directory: "autoware/system_monitor" + search_word: + - "__node:=system_monitor_container" +``` +#### Rules +- The value of settings must be a sequence. + +example +```yaml +# NG +base_path: "/sys/fs/cgroup" +settings: + directory: "autoware/system_monitor" # - directory + search_word: + - "__node:=system_monitor_container" +``` +- The value of search_word must be a sequence. + +example +```yaml +# NG +base_path: "/sys/fs/cgroup" +settings: + - directory: "autoware/system_monitor" + search_word: "__node:=system_monitor_container" # ["__node:=system_monitor_container"] or - "__node:=system_monitor_container" +``` + + +## Assumptions / Known limits + +TBD. + +## Usage + +### launch + +```sh +ros2 launch cgroup_setter cgroup_setter.launch.xml +``` + diff --git a/system/cgroup_setter/config/cgroup.yaml b/system/cgroup_setter/config/cgroup.yaml new file mode 100644 index 0000000000000..5a8639d7a31a5 --- /dev/null +++ b/system/cgroup_setter/config/cgroup.yaml @@ -0,0 +1,4 @@ +base_path: "/sys/fs/cgroup" +settings: + - directory: "autoware/system_monitor" + search_word: diff --git a/system/cgroup_setter/launch/cgroup_setter.launch.xml b/system/cgroup_setter/launch/cgroup_setter.launch.xml new file mode 100644 index 0000000000000..017638670f2da --- /dev/null +++ b/system/cgroup_setter/launch/cgroup_setter.launch.xml @@ -0,0 +1,6 @@ + + + + + + diff --git a/system/cgroup_setter/package.xml b/system/cgroup_setter/package.xml new file mode 100644 index 0000000000000..532d7ce8cc458 --- /dev/null +++ b/system/cgroup_setter/package.xml @@ -0,0 +1,26 @@ + + + + cgroup_setter + 0.1.0 + set pid to a cgroup + TetsuKawa + Apache License 2.0 + + ament_cmake_auto + autoware_cmake + + diagnostic_msgs + diagnostic_updater + yaml-cpp + libboost-filesystem-dev + rclcpp + rclcpp_components + + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/system/cgroup_setter/src/cgroup_setter.cpp b/system/cgroup_setter/src/cgroup_setter.cpp new file mode 100644 index 0000000000000..9fbd862bd7f51 --- /dev/null +++ b/system/cgroup_setter/src/cgroup_setter.cpp @@ -0,0 +1,205 @@ +// Copyright 2024 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License 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. + +/** + * @file cgroup_setter.cpp + * @brief Cgroup　setter class + */ + +#include "cgroup_setter.hpp" +#include +#include +#include +#include +#include +#include +#include + +namespace bp = boost::process; + +CgroupSetter::CgroupSetter(const rclcpp::NodeOptions & options) +: Node("cgroup_setter_node", options), + updater_(this) +{ + try { + std::string yaml_path = this->declare_parameter("cgroup_setting_config_path"); + YAML::Node config = YAML::LoadFile(yaml_path); + if (config["base_path"]) { + base_path_ = config["base_path"].as(); + } else { + RCLCPP_ERROR(this->get_logger(), "base_path is not set in the config file."); + return; + } + + if (!config["settings"]) { + RCLCPP_ERROR(this->get_logger(), "settings is not set in the config file."); + return; + } + + for (auto setting : config["settings"]) { + if (!setting["directory"] || !setting["search_word"]) { + RCLCPP_ERROR(this->get_logger(), "directory or search_word is not set in the config file."); + return; + } + + for (auto word : setting["search_word"]) { + std::pair tmp_pair = std::make_pair(setting["directory"].as(), word.as()); + cgroup_map_[tmp_pair] = false; + } + } + } catch (const std::exception& e) { + RCLCPP_ERROR(this->get_logger(), "Failed to load the config file."); + return; + } + + gethostname(hostname_, sizeof(hostname_)); + updater_.setHardwareID(hostname_); + updater_.add("Cgroup Setting", this, &CgroupSetter::checkCgroup); + + // Timer + using namespace std::chrono_literals; + timer_ = rclcpp::create_timer( + this, this->get_clock(), 1s, std::bind(&CgroupSetter::checkProcessAndAddToCgroup, this)); +} + +void CgroupSetter::checkCgroup(diagnostic_updater::DiagnosticStatusWrapper & stat) { + bool allOK = true; + for (auto& entry : cgroup_map_) { + if (entry.second) { + stat.add(entry.first.first + " " + entry.first.second, "OK"); + } else { + allOK = false; + stat.add(entry.first.first + " " + entry.first.second, "NG"); + } + } + if (allOK) { + if (timer_->is_active()) timer->cancel(); + stat.summary(diagnostic_msgs::msg::DiagnosticStatus::OK, "All processes are added to cgroup."); + } else { + stat.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "Some processes are not added to cgroup."); + } +} + +void CgroupSetter::checkProcessAndAddToCgroup() { + for (auto& entry : cgroup_map_) { + if (entry.second) { + continue; + } + std::string word = entry.first.second; + std::string result = executeCommand(word); + if (!result.empty()) { + std::istringstream iss(result); + std::string pid; + bool allAdded = true; + while (std::getline(iss, pid, '\n')) { + if (!pid.empty() && addToCgroup(entry.first.first, pid)) { + if (checkPIDExists(base_path_ + "/" + entry.first.first + "/cgroup.procs", pid)) { + RCLCPP_INFO(this->get_logger(), "Added all PIDs to cgroup. %s %s", entry.first.second.c_str(), pid.c_str()); + } else { + allAdded = false; + RCLCPP_ERROR(this->get_logger(), "Failed to add PID %s to cgroup. %s %s", pid.c_str(), entry.first.second.c_str(), result.c_str()); + } + } else { + allAdded = false; + RCLCPP_ERROR(this->get_logger(), "Failed to add PID %s to cgroup. %s %s", pid.c_str(), entry.first.second.c_str(), result.c_str()); + } + } + if (allAdded) { + entry.second = true; + } + } else { + RCLCPP_ERROR(this->get_logger(), "Failed to get PID. %s %s", entry.first.second.c_str(), result.c_str()); + } + } +} + +std::string CgroupSetter::executeCommand(const std::string& search_word) { + int out_fd[2]; + if (pipe2(out_fd, O_CLOEXEC) != 0) { + RCLCPP_ERROR(this->get_logger(), "pipe2 error"); + return ""; + } + bp::pipe out_pipe{out_fd[0], out_fd[1]}; + bp::ipstream is_out{std::move(out_pipe)}; + + int err_fd[2]; + if (pipe2(err_fd, O_CLOEXEC) != 0) { + RCLCPP_ERROR(this->get_logger(), "pipe2 error"); + return ""; + } + bp::pipe err_pipe{err_fd[0], err_fd[1]}; + bp::ipstream is_err{std::move(err_pipe)}; + auto cmd=bp::search_path("pgrep"); + std::vector args; + args.push_back("-f"); + args.push_back(search_word); + bp::child c(cmd, bp::args=args, bp::std_out > is_out, bp::std_err > is_err); + c.wait(); + if (c.exit_code() != 0) { + std::ostringstream os; + is_err >> os.rdbuf(); + RCLCPP_ERROR(this->get_logger(), os.str().c_str()); + return ""; + } else { + std::ostringstream os; + os << is_out.rdbuf(); + std::string output = os.str(); + return output; + } +} + +bool CgroupSetter::checkPIDExists(const std::string& filePath, const std::string & pid) { + std::ifstream file(filePath); + if (!file.is_open()) { + RCLCPP_ERROR(this->get_logger(), "Failed to open %s", filePath.c_str()); + return false; + } + + std::string line; + while (std::getline(file, line)) { + if (line == pid) { + return true; + } + } + return false; +} + +bool CgroupSetter::addToCgroup(const std::string& cgroupPath, const std::string& pid) { + std::string cgroupProcFile = base_path_ + "/" + cgroupPath + "/cgroup.procs"; + std::ofstream ofs(cgroupProcFile, std::ofstream::app); + if (!ofs) { + std::cerr << "Failed to open " << cgroupProcFile << std::endl; + ofs.close(); + return false; + } + ofs << pid; + if (!ofs) { + std::cerr << "Failed to write to " << cgroupProcFile << std::endl; + ofs.close(); + return false; + } + ofs.close(); + return true; +} + +int main(int argc, char ** argv) { + rclcpp::init(argc, argv); + rclcpp::executors::SingleThreadedExecutor executor; + auto options = rclcpp::NodeOptions(); + auto node = std::make_shared(options); + executor.add_node(node); + executor.spin(); + executor.remove_node(node); + rclcpp::shutdown(); +} \ No newline at end of file diff --git a/system/cgroup_setter/src/cgroup_setter.hpp b/system/cgroup_setter/src/cgroup_setter.hpp new file mode 100644 index 0000000000000..6be33c0aa6322 --- /dev/null +++ b/system/cgroup_setter/src/cgroup_setter.hpp @@ -0,0 +1,49 @@ +// Copyright 2024 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License 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. + +/** + * @file cgroup_setter.hpp + * @brief Cgroup setter class + */ + +#ifndef CGROUP_SETTER_HPP +#define CGROUP_SETTER_HPP + +#include +#include +#include +#include +#include + + +class CgroupSetter : public rclcpp::Node +{ +public: + explicit CgroupSetter(const rclcpp::NodeOptions& options); + +private: + void checkCgroup(diagnostic_updater::DiagnosticStatusWrapper & stat); + void checkProcessAndAddToCgroup(); + std::string executeCommand(const std::string& cmd); + bool addToCgroup(const std::string& cgroupPath, const std::string& pid); + bool checkPIDExists(const std::string& filePath, const std::string & pid); + + std::map, bool> cgroup_map_; + char hostname_[256]; + diagnostic_updater::Updater updater_; + rclcpp::TimerBase::SharedPtr timer_; + std::string base_path_; +}; + +#endif // CGROUP_SETTER_HPP \ No newline at end of file From 7a2b216237f75f4922733c13dd0a6dd78671d334 Mon Sep 17 00:00:00 2001 From: TetsuKawa Date: Fri, 10 May 2024 18:43:53 +0900 Subject: [PATCH 2/9] modify: delete is_active() method Signed-off-by: TetsuKawa --- system/cgroup_setter/config/cgroup.yaml | 1 + system/cgroup_setter/src/cgroup_setter.cpp | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/system/cgroup_setter/config/cgroup.yaml b/system/cgroup_setter/config/cgroup.yaml index 5a8639d7a31a5..6ccb3f66e878f 100644 --- a/system/cgroup_setter/config/cgroup.yaml +++ b/system/cgroup_setter/config/cgroup.yaml @@ -2,3 +2,4 @@ base_path: "/sys/fs/cgroup" settings: - directory: "autoware/system_monitor" search_word: + - "__node:=system_monitor_container" \ No newline at end of file diff --git a/system/cgroup_setter/src/cgroup_setter.cpp b/system/cgroup_setter/src/cgroup_setter.cpp index 9fbd862bd7f51..a670e6df1379a 100644 --- a/system/cgroup_setter/src/cgroup_setter.cpp +++ b/system/cgroup_setter/src/cgroup_setter.cpp @@ -84,7 +84,7 @@ void CgroupSetter::checkCgroup(diagnostic_updater::DiagnosticStatusWrapper & sta } } if (allOK) { - if (timer_->is_active()) timer->cancel(); + timer_->cancel(); stat.summary(diagnostic_msgs::msg::DiagnosticStatus::OK, "All processes are added to cgroup."); } else { stat.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "Some processes are not added to cgroup."); From 9550b04f1c03a25dc4ee81e796ea7ee9e094b069 Mon Sep 17 00:00:00 2001 From: TetsuKawa Date: Fri, 10 May 2024 18:50:03 +0900 Subject: [PATCH 3/9] modify: fix README.md Signed-off-by: TetsuKawa --- system/cgroup_setter/README.md | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/system/cgroup_setter/README.md b/system/cgroup_setter/README.md index 82ecfe5a5cfd5..4a6f03a81e340 100644 --- a/system/cgroup_setter/README.md +++ b/system/cgroup_setter/README.md @@ -27,12 +27,16 @@ format ```yaml base_path: "/sys/fs/cgroup" settings: + - directory: "xxx/xxx" + search_word: + - "xxxxx" + - "xxxxx" - directory: "xxx/xxx" search_word: - "xxxxx" ``` The following is an example of joining the PID from running `pgrep -f` -with the keyword `__node:=system_monitor_container` to a cgroup named `/sys/fs/cgrpi/autoware/system_monitor`. +with the keyword `__node:=system_monitor_container` to a cgroup named `/sys/fs/cgroup/autoware/system_monitor`. example ```yaml @@ -43,6 +47,7 @@ settings: - "__node:=system_monitor_container" ``` #### Rules + - The value of settings must be a sequence. example From 16eeb9f3c6b536000b623f6f9f85309df46cf3ee Mon Sep 17 00:00:00 2001 From: TetsuKawa Date: Fri, 10 May 2024 19:04:58 +0900 Subject: [PATCH 4/9] modify: fix README.md Signed-off-by: TetsuKawa --- system/cgroup_setter/README.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/system/cgroup_setter/README.md b/system/cgroup_setter/README.md index 4a6f03a81e340..3549ac378eea3 100644 --- a/system/cgroup_setter/README.md +++ b/system/cgroup_setter/README.md @@ -70,6 +70,10 @@ settings: search_word: "__node:=system_monitor_container" # ["__node:=system_monitor_container"] or - "__node:=system_monitor_container" ``` +#### Notes + +- Write permission is required for a custom cgroup, and /sys/fs/cgroup/cgroup.procs to attach a PID to the cgroup. +- A PID cannot be attached to a cgroup that has a small group.（only leaf cgroups） ## Assumptions / Known limits From 8a8da82ed8f8c4b1db470f78a3e887bd60e486fe Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Fri, 10 May 2024 10:17:46 +0000 Subject: [PATCH 5/9] style(pre-commit): autofix --- system/cgroup_setter/README.md | 24 ++- system/cgroup_setter/config/cgroup.yaml | 4 +- system/cgroup_setter/package.xml | 2 +- system/cgroup_setter/src/cgroup_setter.cpp | 219 +++++++++++---------- system/cgroup_setter/src/cgroup_setter.hpp | 36 ++-- 5 files changed, 154 insertions(+), 131 deletions(-) diff --git a/system/cgroup_setter/README.md b/system/cgroup_setter/README.md index 3549ac378eea3..a49ee71dcb37f 100644 --- a/system/cgroup_setter/README.md +++ b/system/cgroup_setter/README.md @@ -17,51 +17,58 @@ The PID is found by `pgrep -f`. ### Node Parameters -| Name | Type | Default Value | Explanation | Reconfigurable | -| --------------------------- | ------ | --------------------------------------------------- | --------------------------------------- | -------------- | -| `cgroup_setting_config_path`| string | `$(find-pkg-share cgroup_setter)/config/cgroup.yaml`| yaml file path | | +| Name | Type | Default Value | Explanation | Reconfigurable | +| ---------------------------- | ------ | ---------------------------------------------------- | -------------- | -------------- | +| `cgroup_setting_config_path` | string | `$(find-pkg-share cgroup_setter)/config/cgroup.yaml` | yaml file path | | ### YAML format for cgroup_setter format + ```yaml base_path: "/sys/fs/cgroup" settings: - directory: "xxx/xxx" - search_word: + search_word: - "xxxxx" - "xxxxx" - directory: "xxx/xxx" - search_word: + search_word: - "xxxxx" ``` + The following is an example of joining the PID from running `pgrep -f` with the keyword `__node:=system_monitor_container` to a cgroup named `/sys/fs/cgroup/autoware/system_monitor`. example + ```yaml base_path: "/sys/fs/cgroup" settings: - directory: "autoware/system_monitor" - search_word: + search_word: - "__node:=system_monitor_container" ``` + #### Rules - The value of settings must be a sequence. example + ```yaml # NG base_path: "/sys/fs/cgroup" settings: directory: "autoware/system_monitor" # - directory - search_word: - - "__node:=system_monitor_container" + search_word: + - "__node:=system_monitor_container" ``` + - The value of search_word must be a sequence. example + ```yaml # NG base_path: "/sys/fs/cgroup" @@ -86,4 +93,3 @@ TBD. ```sh ros2 launch cgroup_setter cgroup_setter.launch.xml ``` - diff --git a/system/cgroup_setter/config/cgroup.yaml b/system/cgroup_setter/config/cgroup.yaml index 6ccb3f66e878f..00b3d8cff01ef 100644 --- a/system/cgroup_setter/config/cgroup.yaml +++ b/system/cgroup_setter/config/cgroup.yaml @@ -1,5 +1,5 @@ base_path: "/sys/fs/cgroup" settings: - directory: "autoware/system_monitor" - search_word: - - "__node:=system_monitor_container" \ No newline at end of file + search_word: + - "__node:=system_monitor_container" diff --git a/system/cgroup_setter/package.xml b/system/cgroup_setter/package.xml index 532d7ce8cc458..214392a6c3465 100644 --- a/system/cgroup_setter/package.xml +++ b/system/cgroup_setter/package.xml @@ -12,10 +12,10 @@ diagnostic_msgs diagnostic_updater - yaml-cpp libboost-filesystem-dev rclcpp rclcpp_components + yaml-cpp ament_lint_auto autoware_lint_common diff --git a/system/cgroup_setter/src/cgroup_setter.cpp b/system/cgroup_setter/src/cgroup_setter.cpp index a670e6df1379a..f65c65e3fad71 100644 --- a/system/cgroup_setter/src/cgroup_setter.cpp +++ b/system/cgroup_setter/src/cgroup_setter.cpp @@ -18,47 +18,50 @@ */ #include "cgroup_setter.hpp" -#include -#include -#include -#include -#include + #include + +#include #include +#include +#include +#include +#include + namespace bp = boost::process; CgroupSetter::CgroupSetter(const rclcpp::NodeOptions & options) -: Node("cgroup_setter_node", options), - updater_(this) +: Node("cgroup_setter_node", options), updater_(this) { try { std::string yaml_path = this->declare_parameter("cgroup_setting_config_path"); YAML::Node config = YAML::LoadFile(yaml_path); if (config["base_path"]) { - base_path_ = config["base_path"].as(); + base_path_ = config["base_path"].as(); } else { - RCLCPP_ERROR(this->get_logger(), "base_path is not set in the config file."); - return; + RCLCPP_ERROR(this->get_logger(), "base_path is not set in the config file."); + return; } if (!config["settings"]) { - RCLCPP_ERROR(this->get_logger(), "settings is not set in the config file."); - return; + RCLCPP_ERROR(this->get_logger(), "settings is not set in the config file."); + return; } - + for (auto setting : config["settings"]) { - if (!setting["directory"] || !setting["search_word"]) { + if (!setting["directory"] || !setting["search_word"]) { RCLCPP_ERROR(this->get_logger(), "directory or search_word is not set in the config file."); return; - } + } - for (auto word : setting["search_word"]) { - std::pair tmp_pair = std::make_pair(setting["directory"].as(), word.as()); + for (auto word : setting["search_word"]) { + std::pair tmp_pair = + std::make_pair(setting["directory"].as(), word.as()); cgroup_map_[tmp_pair] = false; - } + } } - } catch (const std::exception& e) { + } catch (const std::exception & e) { RCLCPP_ERROR(this->get_logger(), "Failed to load the config file."); return; } @@ -73,58 +76,69 @@ CgroupSetter::CgroupSetter(const rclcpp::NodeOptions & options) this, this->get_clock(), 1s, std::bind(&CgroupSetter::checkProcessAndAddToCgroup, this)); } -void CgroupSetter::checkCgroup(diagnostic_updater::DiagnosticStatusWrapper & stat) { - bool allOK = true; - for (auto& entry : cgroup_map_) { - if (entry.second) { - stat.add(entry.first.first + " " + entry.first.second, "OK"); - } else { - allOK = false; - stat.add(entry.first.first + " " + entry.first.second, "NG"); - } - } - if (allOK) { - timer_->cancel(); - stat.summary(diagnostic_msgs::msg::DiagnosticStatus::OK, "All processes are added to cgroup."); +void CgroupSetter::checkCgroup(diagnostic_updater::DiagnosticStatusWrapper & stat) +{ + bool allOK = true; + for (auto & entry : cgroup_map_) { + if (entry.second) { + stat.add(entry.first.first + " " + entry.first.second, "OK"); } else { - stat.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "Some processes are not added to cgroup."); + allOK = false; + stat.add(entry.first.first + " " + entry.first.second, "NG"); } + } + if (allOK) { + timer_->cancel(); + stat.summary(diagnostic_msgs::msg::DiagnosticStatus::OK, "All processes are added to cgroup."); + } else { + stat.summary( + diagnostic_msgs::msg::DiagnosticStatus::WARN, "Some processes are not added to cgroup."); + } } -void CgroupSetter::checkProcessAndAddToCgroup() { - for (auto& entry : cgroup_map_) { - if (entry.second) { - continue; - } - std::string word = entry.first.second; - std::string result = executeCommand(word); - if (!result.empty()) { - std::istringstream iss(result); - std::string pid; - bool allAdded = true; - while (std::getline(iss, pid, '\n')) { - if (!pid.empty() && addToCgroup(entry.first.first, pid)) { - if (checkPIDExists(base_path_ + "/" + entry.first.first + "/cgroup.procs", pid)) { - RCLCPP_INFO(this->get_logger(), "Added all PIDs to cgroup. %s %s", entry.first.second.c_str(), pid.c_str()); - } else { - allAdded = false; - RCLCPP_ERROR(this->get_logger(), "Failed to add PID %s to cgroup. %s %s", pid.c_str(), entry.first.second.c_str(), result.c_str()); - } - } else { - allAdded = false; - RCLCPP_ERROR(this->get_logger(), "Failed to add PID %s to cgroup. %s %s", pid.c_str(), entry.first.second.c_str(), result.c_str()); - } - } - if (allAdded) { - entry.second = true; - } +void CgroupSetter::checkProcessAndAddToCgroup() +{ + for (auto & entry : cgroup_map_) { + if (entry.second) { + continue; + } + std::string word = entry.first.second; + std::string result = executeCommand(word); + if (!result.empty()) { + std::istringstream iss(result); + std::string pid; + bool allAdded = true; + while (std::getline(iss, pid, '\n')) { + if (!pid.empty() && addToCgroup(entry.first.first, pid)) { + if (checkPIDExists(base_path_ + "/" + entry.first.first + "/cgroup.procs", pid)) { + RCLCPP_INFO( + this->get_logger(), "Added all PIDs to cgroup. %s %s", entry.first.second.c_str(), + pid.c_str()); + } else { + allAdded = false; + RCLCPP_ERROR( + this->get_logger(), "Failed to add PID %s to cgroup. %s %s", pid.c_str(), + entry.first.second.c_str(), result.c_str()); + } } else { - RCLCPP_ERROR(this->get_logger(), "Failed to get PID. %s %s", entry.first.second.c_str(), result.c_str()); + allAdded = false; + RCLCPP_ERROR( + this->get_logger(), "Failed to add PID %s to cgroup. %s %s", pid.c_str(), + entry.first.second.c_str(), result.c_str()); } + } + if (allAdded) { + entry.second = true; + } + } else { + RCLCPP_ERROR( + this->get_logger(), "Failed to get PID. %s %s", entry.first.second.c_str(), result.c_str()); } + } } -std::string CgroupSetter::executeCommand(const std::string& search_word) { +std::string CgroupSetter::executeCommand(const std::string & search_word) +{ int out_fd[2]; if (pipe2(out_fd, O_CLOEXEC) != 0) { RCLCPP_ERROR(this->get_logger(), "pipe2 error"); @@ -140,11 +154,11 @@ std::string CgroupSetter::executeCommand(const std::string& search_word) { } bp::pipe err_pipe{err_fd[0], err_fd[1]}; bp::ipstream is_err{std::move(err_pipe)}; - auto cmd=bp::search_path("pgrep"); + auto cmd = bp::search_path("pgrep"); std::vector args; args.push_back("-f"); args.push_back(search_word); - bp::child c(cmd, bp::args=args, bp::std_out > is_out, bp::std_err > is_err); + bp::child c(cmd, bp::args = args, bp::std_out > is_out, bp::std_err > is_err); c.wait(); if (c.exit_code() != 0) { std::ostringstream os; @@ -159,47 +173,50 @@ std::string CgroupSetter::executeCommand(const std::string& search_word) { } } -bool CgroupSetter::checkPIDExists(const std::string& filePath, const std::string & pid) { - std::ifstream file(filePath); - if (!file.is_open()) { - RCLCPP_ERROR(this->get_logger(), "Failed to open %s", filePath.c_str()); - return false; - } +bool CgroupSetter::checkPIDExists(const std::string & filePath, const std::string & pid) +{ + std::ifstream file(filePath); + if (!file.is_open()) { + RCLCPP_ERROR(this->get_logger(), "Failed to open %s", filePath.c_str()); + return false; + } - std::string line; - while (std::getline(file, line)) { - if (line == pid) { - return true; - } + std::string line; + while (std::getline(file, line)) { + if (line == pid) { + return true; } - return false; + } + return false; } -bool CgroupSetter::addToCgroup(const std::string& cgroupPath, const std::string& pid) { - std::string cgroupProcFile = base_path_ + "/" + cgroupPath + "/cgroup.procs"; - std::ofstream ofs(cgroupProcFile, std::ofstream::app); - if (!ofs) { - std::cerr << "Failed to open " << cgroupProcFile << std::endl; - ofs.close(); - return false; - } - ofs << pid; - if (!ofs) { - std::cerr << "Failed to write to " << cgroupProcFile << std::endl; - ofs.close(); - return false; - } +bool CgroupSetter::addToCgroup(const std::string & cgroupPath, const std::string & pid) +{ + std::string cgroupProcFile = base_path_ + "/" + cgroupPath + "/cgroup.procs"; + std::ofstream ofs(cgroupProcFile, std::ofstream::app); + if (!ofs) { + std::cerr << "Failed to open " << cgroupProcFile << std::endl; + ofs.close(); + return false; + } + ofs << pid; + if (!ofs) { + std::cerr << "Failed to write to " << cgroupProcFile << std::endl; ofs.close(); - return true; + return false; + } + ofs.close(); + return true; } -int main(int argc, char ** argv) { - rclcpp::init(argc, argv); - rclcpp::executors::SingleThreadedExecutor executor; - auto options = rclcpp::NodeOptions(); - auto node = std::make_shared(options); - executor.add_node(node); - executor.spin(); - executor.remove_node(node); - rclcpp::shutdown(); -} \ No newline at end of file +int main(int argc, char ** argv) +{ + rclcpp::init(argc, argv); + rclcpp::executors::SingleThreadedExecutor executor; + auto options = rclcpp::NodeOptions(); + auto node = std::make_shared(options); + executor.add_node(node); + executor.spin(); + executor.remove_node(node); + rclcpp::shutdown(); +} diff --git a/system/cgroup_setter/src/cgroup_setter.hpp b/system/cgroup_setter/src/cgroup_setter.hpp index 6be33c0aa6322..81289c20e9730 100644 --- a/system/cgroup_setter/src/cgroup_setter.hpp +++ b/system/cgroup_setter/src/cgroup_setter.hpp @@ -17,33 +17,33 @@ * @brief Cgroup setter class */ -#ifndef CGROUP_SETTER_HPP -#define CGROUP_SETTER_HPP +#ifndef CGROUP_SETTER_HPP_ +#define CGROUP_SETTER_HPP_ -#include #include +#include + #include #include #include - -class CgroupSetter : public rclcpp::Node +class CgroupSetter : public rclcpp::Node { public: - explicit CgroupSetter(const rclcpp::NodeOptions& options); + explicit CgroupSetter(const rclcpp::NodeOptions & options); private: - void checkCgroup(diagnostic_updater::DiagnosticStatusWrapper & stat); - void checkProcessAndAddToCgroup(); - std::string executeCommand(const std::string& cmd); - bool addToCgroup(const std::string& cgroupPath, const std::string& pid); - bool checkPIDExists(const std::string& filePath, const std::string & pid); - - std::map, bool> cgroup_map_; - char hostname_[256]; - diagnostic_updater::Updater updater_; - rclcpp::TimerBase::SharedPtr timer_; - std::string base_path_; + void checkCgroup(diagnostic_updater::DiagnosticStatusWrapper & stat); + void checkProcessAndAddToCgroup(); + std::string executeCommand(const std::string & cmd); + bool addToCgroup(const std::string & cgroupPath, const std::string & pid); + bool checkPIDExists(const std::string & filePath, const std::string & pid); + + std::map, bool> cgroup_map_; + char hostname_[256]; + diagnostic_updater::Updater updater_; + rclcpp::TimerBase::SharedPtr timer_; + std::string base_path_; }; -#endif // CGROUP_SETTER_HPP \ No newline at end of file +#endif // CGROUP_SETTER_HPP_ From dd07e52531a14aed519d37ea9ebc908af14875c2 Mon Sep 17 00:00:00 2001 From: TetsuKawa Date: Mon, 13 May 2024 10:42:34 +0900 Subject: [PATCH 6/9] feat: response to precommit-ci Signed-off-by: TetsuKawa --- system/cgroup_setter/README.md | 2 +- system/cgroup_setter/config/cgroup.yaml | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/system/cgroup_setter/README.md b/system/cgroup_setter/README.md index 3549ac378eea3..e95010162aa8b 100644 --- a/system/cgroup_setter/README.md +++ b/system/cgroup_setter/README.md @@ -73,7 +73,7 @@ settings: #### Notes - Write permission is required for a custom cgroup, and /sys/fs/cgroup/cgroup.procs to attach a PID to the cgroup. -- A PID cannot be attached to a cgroup that has a small group.（only leaf cgroups） +- A PID cannot be attached to a cgroup that has a small group.（only leaf cgroup） ## Assumptions / Known limits diff --git a/system/cgroup_setter/config/cgroup.yaml b/system/cgroup_setter/config/cgroup.yaml index 6ccb3f66e878f..23e032e1ff2dd 100644 --- a/system/cgroup_setter/config/cgroup.yaml +++ b/system/cgroup_setter/config/cgroup.yaml @@ -1,5 +1,5 @@ -base_path: "/sys/fs/cgroup" +base_path: /sys/fs/cgroup settings: - - directory: "autoware/system_monitor" + - directory: autoware/system_monitor search_word: - - "__node:=system_monitor_container" \ No newline at end of file + - __node:=system_monitor_container \ No newline at end of file From 7e14aefca79f91bbdee762d6c4025f1dd82433b5 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Mon, 13 May 2024 01:47:52 +0000 Subject: [PATCH 7/9] style(pre-commit): autofix --- system/cgroup_setter/config/cgroup.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/cgroup_setter/config/cgroup.yaml b/system/cgroup_setter/config/cgroup.yaml index daa1fa4d9d936..34d7e4378055f 100644 --- a/system/cgroup_setter/config/cgroup.yaml +++ b/system/cgroup_setter/config/cgroup.yaml @@ -1,5 +1,5 @@ base_path: /sys/fs/cgroup settings: - directory: autoware/system_monitor - search_word: + search_word: - __node:=system_monitor_container From 3a17376fecadde87acf29449ee71b54c1a330678 Mon Sep 17 00:00:00 2001 From: TetsuKawa Date: Mon, 13 May 2024 10:54:31 +0900 Subject: [PATCH 8/9] feat: response to precommit-ci Signed-off-by: TetsuKawa --- system/cgroup_setter/src/cgroup_setter.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/system/cgroup_setter/src/cgroup_setter.cpp b/system/cgroup_setter/src/cgroup_setter.cpp index f65c65e3fad71..e5e7e3dc7d778 100644 --- a/system/cgroup_setter/src/cgroup_setter.cpp +++ b/system/cgroup_setter/src/cgroup_setter.cpp @@ -28,6 +28,8 @@ #include #include #include +#include +#include namespace bp = boost::process; @@ -71,7 +73,7 @@ CgroupSetter::CgroupSetter(const rclcpp::NodeOptions & options) updater_.add("Cgroup Setting", this, &CgroupSetter::checkCgroup); // Timer - using namespace std::chrono_literals; + using namespace std::literals::chrono_literals; timer_ = rclcpp::create_timer( this, this->get_clock(), 1s, std::bind(&CgroupSetter::checkProcessAndAddToCgroup, this)); } From 7ff7a6428f6259895b5c06c11d6a9b0f6afc56d1 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Mon, 13 May 2024 01:59:07 +0000 Subject: [PATCH 9/9] style(pre-commit): autofix --- system/cgroup_setter/src/cgroup_setter.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/cgroup_setter/src/cgroup_setter.cpp b/system/cgroup_setter/src/cgroup_setter.cpp index e5e7e3dc7d778..c8e5f65958a57 100644 --- a/system/cgroup_setter/src/cgroup_setter.cpp +++ b/system/cgroup_setter/src/cgroup_setter.cpp @@ -27,9 +27,9 @@ #include #include #include +#include #include #include -#include namespace bp = boost::process;