feat(system): create a package to monitor component containers

system/autoware_component_monitor/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(autoware_component_monitor)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+find_package(Boost REQUIRED COMPONENTS
+  filesystem
+)
+
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/component_monitor_node.cpp
+)
+target_link_libraries(${PROJECT_NAME} ${Boost_LIBRARIES})
+
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "autoware::component_monitor::ComponentMonitor"
+  EXECUTABLE ${PROJECT_NAME}_node
+)
+
+if(BUILD_TESTING)
+  ament_add_ros_isolated_gtest(test_unit_conversions test/test_unit_conversions.cpp)
+  target_link_libraries(test_unit_conversions ${PROJECT_NAME})
+  target_include_directories(test_unit_conversions PRIVATE src)
+endif()
+
+ament_auto_package(
+  INSTALL_TO_SHARE
+  config
+  launch
+)

system/autoware_component_monitor/README.md

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+# autoware_component_monitor
+
+The `autoware_component_monitor` package allows monitoring system usage of component containers.
+The composable node inside the package is attached to a component container, and it publishes CPU and memory usage of
+the container.
+
+## Inputs / Outputs
+
+### Input
+
+None.
+
+### Output
+
+| Name                       | Type                                               | Description            |
+| -------------------------- | -------------------------------------------------- | ---------------------- |
+| `~/component_system_usage` | `autoware_internal_msgs::msg::ResourceUsageReport` | CPU, Memory usage etc. |
+
+## Parameters
+
+### Core Parameters
+
+{{ json_to_markdown("system/autoware_component_monitor/schema/component_monitor.schema.json") }}
+
+## How to use
+
+Add it as a composable node in your launch file:
+
+```xml
+
+<launch>
+  <group>
+    <push-ros-namespace namespace="your_namespace"/>
+    ...
+
+    <load_composable_node target="$(var container_name)">
+      <composable_node pkg="autoware_component_monitor"
+                       plugin="autoware::component_monitor::ComponentMonitor"
+                       name="component_monitor">
+        <param from="$(find-pkg-share autoware_component_monitor)/config/component_monitor.param.yaml"/>
+      </composable_node>
+    </load_composable_node>
+
+    ...
+  </group>
+</launch>
+```
+
+### Quick testing
+
+You can test the package by running the following command:
+
+```bash
+ros2 component load <container_name> autoware_component_monitor autoware::component_monitor::ComponentMonitor -p publish_rate:=10.0 --node-namespace <namespace>
+
+# Example usage
+ros2 component load /pointcloud_container autoware_component_monitor autoware::component_monitor::ComponentMonitor -p publish_rate:=10.0 --node-namespace /pointcloud_container
+```
+
+## How it works
+
+The package uses the `top` command under the hood.
+`top -b -n 1 -E k -p PID` command is run at 10 Hz to get the system usage of the process.
+
+- `-b` activates the batch mode. By default, `top` doesn't exit and prints to stdout periodically. Batch mode allows
+  exiting the program.
+- `-n` number of times should `top` prints the system usage in batch mode.
+- `-p` specifies the PID of the process to monitor.
+- `-E k` changes the memory unit in the summary section to KiB.
+
+Here is a sample output:
+
+```text
+top - 13:57:26 up  3:14,  1 user,  load average: 1,09, 1,10, 1,04
+Tasks:   1 total,   0 running,   1 sleeping,   0 stopped,   0 zombie
+%Cpu(s):  0,0 us,  0,8 sy,  0,0 ni, 99,2 id,  0,0 wa,  0,0 hi,  0,0 si,  0,0 st
+KiB Mem : 65532208 total, 35117428 free, 17669824 used, 12744956 buff/cache
+KiB Swap: 39062524 total, 39062524 free,        0 used. 45520816 avail Mem
+
+    PID USER      PR  NI    VIRT    RES    SHR S  %CPU  %MEM     TIME+ COMMAND
+   3352 meb       20   0 2905940   1,2g  39292 S   0,0   2,0  23:24.01 awesome
+```
+
+We get 5th, 8th fields from the last line, which are RES, %CPU respectively.

system/autoware_component_monitor/config/component_monitor.param.yaml

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+/**:
+  ros__parameters:
+    publish_rate: 5.0  # Hz

system/autoware_component_monitor/launch/component_monitor.launch.xml

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+<launch>
+  <arg name="param_file" default="$(find-pkg-share autoware_component_monitor)/config/component_monitor.param.yaml"/>
+
+  <node_container pkg="rclcpp_components" exec="component_container_mt" name="component_monitor_container" namespace="/">
+    <composable_node pkg="autoware_component_monitor" plugin="autoware::component_monitor::ComponentMonitor" name="component_monitor">
+      <param from="$(var param_file)"/>
+    </composable_node>
+  </node_container>
+</launch>

system/autoware_component_monitor/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>autoware_component_monitor</name>
+  <version>0.0.0</version>
+  <description>A ROS 2 package to monitor system usage of component containers.</description>
+  <maintainer email="[email protected]">Mehmet Emin Başoğlu</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+
+  <depend>autoware_internal_msgs</depend>
+  <depend>libboost-filesystem-dev</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
+
+  <test_depend>ament_cmake_ros</test_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/autoware_component_monitor/schema/component_monitor.schema.json

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+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for the Component Monitor node",
+  "type": "object",
+  "definitions": {
+    "component_monitor": {
+      "type": "object",
+      "properties": {
+        "publish_rate": {
+          "type": "number",
+          "default": "5.0",
+          "description": "Publish rate in Hz"
+        }
+      },
+      "required": ["publish_rate"]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/component_monitor"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}

system/autoware_component_monitor/src/component_monitor_node.cpp

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+// Copyright 2024 The 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.
+
+#include "component_monitor_node.hpp"
+
+#include "unit_conversions.hpp"
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <autoware_internal_msgs/msg/resource_usage_report.hpp>
+
+#include <boost/process.hpp>
+
+#include <cctype>
+#include <cstdint>
+#include <exception>
+#include <functional>
+#include <sstream>
+#include <string>
+#include <unordered_map>
+#include <utility>
+#include <vector>
+
+namespace autoware::component_monitor
+{
+ComponentMonitor::ComponentMonitor(const rclcpp::NodeOptions & node_options)
+: Node("component_monitor", node_options), publish_rate_(declare_parameter<double>("publish_rate"))
+{
+  usage_pub_ =
+    create_publisher<ResourceUsageReport>("~/component_system_usage", rclcpp::SensorDataQoS());
+
+  // Make sure top ins installed and is in path
+  const auto path_top = boost::process::search_path("top");
+  if (path_top.empty()) {
+    RCLCPP_ERROR_STREAM(get_logger(), "Couldn't find 'top' in path.");
+    rclcpp::shutdown();
+  }
+
+  // Get the PID of the current process
+  int pid = getpid();
+
+  environment_ = boost::this_process::environment();
+  environment_["LC_NUMERIC"] = "en_US.UTF-8";
+
+  on_timer_tick_wrapped_ = std::bind(&ComponentMonitor::on_timer_tick, this, pid);
+
+  timer_ = rclcpp::create_timer(
+    this, get_clock(), rclcpp::Rate(publish_rate_).period(), on_timer_tick_wrapped_);
+}
+
+void ComponentMonitor::on_timer_tick(const int pid) const
+{
+  if (usage_pub_->get_subscription_count() == 0) return;
+
+  try {
+    auto usage_msg = pid_to_report(pid);
+    usage_msg.header.stamp = this->now();
+    usage_msg.pid = pid;
+    usage_pub_->publish(usage_msg);
+  } catch (std::exception & e) {
+    RCLCPP_ERROR(get_logger(), "%s", e.what());
+  } catch (...) {
+    RCLCPP_ERROR(get_logger(), "An unknown error occurred.");
+  }
+}
+
+ComponentMonitor::ResourceUsageReport ComponentMonitor::pid_to_report(const pid_t & pid) const
+{
+  const auto std_out = run_system_command("top -b -n 1 -E k -p " + std::to_string(pid));
+
+  const auto fields = parse_lines_into_words(std_out);
+
+  ResourceUsageReport report;
+  report.cpu_cores_utilized = std::stof(fields.back().at(8)) / 100.0f;
+  report.total_memory_bytes = unit_conversions::kib_to_bytes(std::stoul(fields.at(3).at(3)));
+  report.free_memory_bytes = unit_conversions::kib_to_bytes(std::stoul(fields.at(3).at(5)));
+  report.process_memory_bytes = parse_memory_res(fields.back().at(5));
+
+  return report;
+}
+
+std::stringstream ComponentMonitor::run_system_command(const std::string & cmd) const
+{
+  int out_fd[2];
+  if (pipe2(out_fd, O_CLOEXEC) != 0) {
+    RCLCPP_ERROR_STREAM(get_logger(), "Error setting flags on out_fd");
+  }
+  boost::process::pipe out_pipe{out_fd[0], out_fd[1]};
+  boost::process::ipstream is_out{std::move(out_pipe)};
+
+  int err_fd[2];
+  if (pipe2(err_fd, O_CLOEXEC) != 0) {
+    RCLCPP_ERROR_STREAM(get_logger(), "Error setting flags on err_fd");
+  }
+  boost::process::pipe err_pipe{err_fd[0], err_fd[1]};
+  boost::process::ipstream is_err{std::move(err_pipe)};
+
+  boost::process::child c(
+    cmd, environment_, boost::process::std_out > is_out, boost::process::std_err > is_err);
+  c.wait();
+
+  if (c.exit_code() != 0) {
+    std::ostringstream os;
+    is_err >> os.rdbuf();
+    RCLCPP_ERROR_STREAM(get_logger(), "Error running command: " << os.str());
+  }
+
+  std::stringstream sstream;
+  sstream << is_out.rdbuf();
+  return sstream;
+}
+
+ComponentMonitor::VecVecStr ComponentMonitor::parse_lines_into_words(
+  const std::stringstream & std_out)
+{
+  VecVecStr fields;
+  std::string line;
+  std::istringstream input{std_out.str()};
+
+  while (std::getline(input, line)) {
+    std::istringstream iss_line{line};
+    std::string word;
+    std::vector<std::string> words;
+
+    while (iss_line >> word) {
+      words.push_back(word);
+    }
+
+    fields.push_back(words);
+  }
+
+  return fields;
+}
+
+std::uint64_t ComponentMonitor::parse_memory_res(const std::string & mem_res)
+{
+  // example 1: 12.3g
+  // example 2: 123 (without suffix, just bytes)
+  static const std::unordered_map<char, std::function<std::uint64_t(double)>> unit_map{
+    {'k', unit_conversions::kib_to_bytes<double>}, {'m', unit_conversions::mib_to_bytes<double>},
+    {'g', unit_conversions::gib_to_bytes<double>}, {'t', unit_conversions::tib_to_bytes<double>},
+    {'p', unit_conversions::pib_to_bytes<double>}, {'e', unit_conversions::eib_to_bytes<double>}};
+
+  if (std::isdigit(mem_res.back())) {
+    return std::stoull(mem_res);  // Handle plain bytes without any suffix
+  }
+
+  // Extract the numeric part and the unit suffix
+  double value = std::stod(mem_res.substr(0, mem_res.size() - 1));
+  char suffix = mem_res.back();
+
+  // Find the appropriate function from the map
+  auto it = unit_map.find(suffix);
+  if (it != unit_map.end()) {
+    const auto & conversion_function = it->second;
+    return conversion_function(value);
+  }
+
+  // Throw an exception or handle the error as needed if the suffix is not recognized
+  throw std::runtime_error("Unsupported unit suffix: " + std::string(1, suffix));
+}
+
+}  // namespace autoware::component_monitor
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::component_monitor::ComponentMonitor)