feat: add cgroup setter node

system/cgroup_setter/CMakeLists.txt

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+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
+)

system/cgroup_setter/README.md

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+# 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
+      - 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/cgroup/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"
+```
+
+#### 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 cgroup）
+
+## Assumptions / Known limits
+
+TBD.
+
+## Usage
+
+### launch
+
+```sh
+ros2 launch cgroup_setter cgroup_setter.launch.xml
+```

system/cgroup_setter/config/cgroup.yaml

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+base_path: /sys/fs/cgroup
+settings:
+  - directory: autoware/system_monitor
+    search_word:
+      - __node:=system_monitor_container

system/cgroup_setter/launch/cgroup_setter.launch.xml

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+<launch>
+  <arg name="cgroup_setting_config_path" default="$(find-pkg-share cgroup_setter)/config/cgroup.yaml"/>
+  <node pkg="cgroup_setter" exec="cgroup_setter" name="cgroup_setter">
+    <param name="cgroup_setting_config_path" value="$(var cgroup_setting_config_path)"/>
+  </node>
+</launch>

system/cgroup_setter/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>cgroup_setter</name>
+  <version>0.1.0</version>
+  <description>set pid to a cgroup</description>
+  <maintainer email="[email protected]">TetsuKawa</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+
+  <depend>diagnostic_msgs</depend>
+  <depend>diagnostic_updater</depend>
+  <depend>libboost-filesystem-dev</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
+  <depend>yaml-cpp</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

system/cgroup_setter/src/cgroup_setter.cpp

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+// 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 <boost/process.hpp>
+
+#include <unistd.h>
+#include <yaml-cpp/yaml.h>
+
+#include <cstring>
+#include <fstream>
+#include <iostream>
+#include <memory>
+#include <sstream>
+#include <vector>
+
+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<std::string>("cgroup_setting_config_path");
+    YAML::Node config = YAML::LoadFile(yaml_path);
+    if (config["base_path"]) {
+      base_path_ = config["base_path"].as<std::string>();
+    } 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<std::string, std::string> tmp_pair =
+          std::make_pair(setting["directory"].as<std::string>(), word.as<std::string>());
+        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::literals::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) {
+    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<std::string> 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<CgroupSetter>(options);
+  executor.add_node(node);
+  executor.spin();
+  executor.remove_node(node);
+  rclcpp::shutdown();
+}