feat: add CRC error monitoring to net_monitor

Signed-off-by: noriyuki.h <n-hamaike@esol.co.jp>
Signed-off-by: v-nakayama7440-esol <v-nakayama7440@esol.co.jp>

launch/tier4_system_launch/config/system_monitor/net_monitor.param.yaml

@@ -3,3 +3,5 @@
       devices: ["*"]
       traffic_reader_port: 7636
       monitor_program: "greengrass"
+      crc_error_check_duration: 1
+      crc_error_count_threshold: 1

system/system_error_monitor/config/diagnostic_aggregator/system.param.yaml

@@ -122,6 +122,12 @@
                   contains: [": Network Traffic"]
                   timeout: 3.0
 
+                netowork_crc_error:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: network_crc_error
+                  contains: [": Network CRC Error"]
+                  timeout: 3.0
+
             storage:
               type: diagnostic_aggregator/AnalyzerGroup
               path: storage

system/system_monitor/config/net_monitor.param.yaml

@@ -3,3 +3,5 @@
     devices: ["*"]
     traffic_reader_port: 7636
     monitor_program: "greengrass"
+    crc_error_check_duration: 1
+    crc_error_count_threshold: 1

system/system_monitor/docs/ros_parameters.md

@@ -53,10 +53,12 @@ mem_monitor:
 
 net_monitor:
 
-| Name       |     Type     |  Unit   | Default | Notes                                                                                |
-| :--------- | :----------: | :-----: | :-----: | :----------------------------------------------------------------------------------- |
-| devices    | list[string] |   n/a   |  none   | The name of network interface to monitor. (e.g. eth0, \* for all network interfaces) |
-| usage_warn |    float     | %(1e-2) |  0.95   | Generates warning when network usage reaches a specified value or higher.            |
+| Name                      |     Type     |  Unit   | Default | Notes                                                                                                           |
+| :------------------------ | :----------: | :-----: | :-----: | :-------------------------------------------------------------------------------------------------------------- |
+| devices                   | list[string] |   n/a   |  none   | The name of network interface to monitor. (e.g. eth0, \* for all network interfaces)                            |
+| usage_warn                |    float     | %(1e-2) |  0.95   | Generates warning when network usage reaches a specified value or higher.                                       |
+| crc_error_check_duration  |     int      |   sec   |    1    | CRC error check duration.                                                                                       |
+| crc_error_count_threshold |     int      |   n/a   |    1    | Generates warning when count of CRC errors during CRC error check duration reaches a specified value or higher. |
 
 ## <u>NTP Monitor</u>
 

system/system_monitor/docs/topics_net_monitor.md

@@ -63,3 +63,21 @@
 | key   | value (example)                                       |
 | ----- | ----------------------------------------------------- |
 | error | [nethogs -t] execve failed: No such file or directory |
+
+## <u>Network CRC Error</u>
+
+/diagnostics/net_monitor: Network CRC Error
+
+<b>[summary]</b>
+
+| level | message |
+| ----- | ------- |
+| OK    | OK      |
+
+<b>[values]</b>
+
+| key                                        | value (example) |
+| ------------------------------------------ | --------------- |
+| Network [0-9]: interface name              | wlp82s0         |
+| Network [0-9]: total rx_crc_errors         | 0               |
+| Network [0-9]: rx_crc_errors per unit time | 0               |

system/system_monitor/include/system_monitor/net_monitor/net_monitor.hpp

@@ -25,6 +25,7 @@
 #include <diagnostic_updater/diagnostic_updater.hpp>
 
 #include <climits>
+#include <deque>
 #include <map>
 #include <string>
 #include <vector>
@@ -55,11 +56,6 @@ class NetMonitor : public rclcpp::Node
    */
   ~NetMonitor();
 
-  /**
-   * @brief Update the diagnostic state.
-   */
-  void update();
-
   /**
    * @brief Shutdown nl80211 object
    */
@@ -86,24 +82,120 @@ class NetMonitor : public rclcpp::Node
   void monitorTraffic(
     diagnostic_updater::DiagnosticStatusWrapper & stat);  // NOLINT(runtime/references)
 
+  /**
+   * @brief check CRC error
+   * @param [out] stat diagnostic message passed directly to diagnostic publish calls
+   * @note NOLINT syntax is needed since diagnostic_updater asks for a non-const reference
+   * to pass diagnostic message updated in this function to diagnostic publish calls.
+   */
+  void checkCrcError(
+    diagnostic_updater::DiagnosticStatusWrapper & stat);  // NOLINT(runtime/references)
+
   /**
    * @brief get wireless speed
    * @param [in] ifa_name interface name
    * @return wireless speed
    */
   float getWirelessSpeed(const char * ifa_name);
 
+  /**
+   * @brief timer callback
+   */
+  void onTimer();
+
+  /**
+   * @brief update Network information list
+   */
+  void updateNetworkInfoList();
+
+  /**
+   * @brief check NetMonitor General Infomation
+   * @param [out] stat diagnostic message passed directly to diagnostic publish calls
+   * @return check result
+   */
+  bool checkGeneralInfo(diagnostic_updater::DiagnosticStatusWrapper & stat);
+
+  /**
+   * @brief Network information
+   */
+  struct NetworkInfo
+  {
+    int mtu_errno;               //!< @brief errno set by ioctl() with SIOCGIFMTU
+    int ethtool_errno;           //!< @brief errno set by ioctl() with SIOCETHTOOL
+    bool is_running;             //!< @brief resource allocated flag
+    std::string interface_name;  //!< @brief interface name
+    float speed;                 //!< @brief network capacity
+    int mtu;                     //!< @brief MTU
+    float rx_traffic;            //!< @brief traffic received
+    float tx_traffic;            //!< @brief traffic transmitted
+    float rx_usage;              //!< @brief network capacity usage rate received
+    float tx_usage;              //!< @brief network capacity usage rate transmitted
+    unsigned int rx_bytes;       //!< @brief total bytes received
+    unsigned int rx_errors;      //!< @brief bad packets received
+    unsigned int tx_bytes;       //!< @brief total bytes transmitted
+    unsigned int tx_errors;      //!< @brief packet transmit problems
+    unsigned int collisions;     //!< @brief number of collisions during packet transmissions
+
+    NetworkInfo()
+    : mtu_errno(0),
+      ethtool_errno(0),
+      is_running(false),
+      interface_name(""),
+      speed(0.0),
+      mtu(0),
+      rx_traffic(0.0),
+      tx_traffic(0.0),
+      rx_usage(0.0),
+      tx_usage(0.0),
+      rx_bytes(0),
+      rx_errors(0),
+      tx_bytes(0),
+      tx_errors(0),
+      collisions(0)
+    {
+    }
+  };
+
+  /**
+   * @brief determine if it is a supported network
+   * @param [in] net_info network infomation
+   * @param [in] index index of network infomation index
+   * @param [out] stat diagnostic message passed directly to diagnostic publish calls
+   * @param [out] error_str error string
+   * @return result of determining whether it is a supported network
+   */
+  bool isSupportedNetwork(
+    const NetworkInfo & net_info, int index, diagnostic_updater::DiagnosticStatusWrapper & stat,
+    std::string & error_str);
+
   diagnostic_updater::Updater updater_;  //!< @brief Updater class which advertises to /diagnostics
+  rclcpp::TimerBase::SharedPtr timer_;   //!< @brief timer to get Network information
 
   char hostname_[HOST_NAME_MAX + 1];        //!< @brief host name
   std::map<std::string, bytes> bytes_;      //!< @brief list of bytes
   rclcpp::Time last_update_time_;           //!< @brief last update time
   std::vector<std::string> device_params_;  //!< @brief list of devices
-  NL80211 nl80211_;                         // !< @brief 802.11 netlink-based interface
+  NL80211 nl80211_;                         //!< @brief 802.11 netlink-based interface
+  int getifaddrs_errno_;                    //!< @brief errno set by getifaddrs()
+  std::vector<NetworkInfo> net_info_list_;  //!< @brief list of Network information
 
-  std::string monitor_program_;  //!< @brief nethogs monitor program name
-  bool nethogs_all_;             //!< @brief nethogs result all mode
-  int traffic_reader_port_;      //!< @brief port number to connect to traffic_reader
+  /**
+   * @brief CRC errors information
+   */
+  typedef struct crc_errors
+  {
+    std::deque<unsigned int> errors_queue;  //!< @brief queue that holds count of CRC errors
+    unsigned int last_rx_crc_errors;  //!< @brief rx_crc_error at the time of the last monitoring
+
+    crc_errors() : last_rx_crc_errors(0) {}
+  } crc_errors;
+  std::map<std::string, crc_errors> crc_errors_;  //!< @brief list of CRC errors
+
+  std::string monitor_program_;             //!< @brief nethogs monitor program name
+  bool nethogs_all_;                        //!< @brief nethogs result all mode
+  int traffic_reader_port_;                 //!< @brief port number to connect to traffic_reader
+  unsigned int crc_error_check_duration_;   //!< @brief CRC error check duration
+  unsigned int crc_error_count_threshold_;  //!< @brief CRC error count threshold
 
   /**
    * @brief Network usage status messages