feat(system_monitor):adding a node for CMOS battery monitoring

.github/workflows/sync-upstream.yaml

@@ -0,0 +1,28 @@
+name: sync-upstream
+
+on:
+  schedule:
+    - cron: 0 0 * * *
+  workflow_dispatch:
+
+jobs:
+  sync-upstream:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Run sync-branches
+        uses: autowarefoundation/autoware-github-actions/sync-branches@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          base-branch: tier4/main
+          sync-pr-branch: sync-upstream
+          sync-target-repository: https://github.com/autowarefoundation/autoware.universe.git
+          sync-target-branch: main
+          pr-title: "chore: sync upstream"
+          auto-merge-method: merge

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

@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    cmos_battery_warn: 2.90
+    cmos_battery_error: 2.70

launch/tier4_system_launch/launch/system.launch.xml

@@ -13,6 +13,7 @@
       <push-ros-namespace namespace="system_monitor"/>
       <include file="$(find-pkg-share system_monitor)/launch/system_monitor.launch.py">
         <arg name="cpu_monitor_config_file" value="$(find-pkg-share tier4_system_launch)/config/system_monitor/cpu_monitor.param.yaml"/>
+        <arg name="hardware_monitor_config_file" value="$(find-pkg-share tier4_system_launch)/config/system_monitor/hardware_monitor.param.yaml"/>
         <arg name="hdd_monitor_config_file" value="$(find-pkg-share tier4_system_launch)/config/system_monitor/hdd_monitor.param.yaml"/>
         <arg name="mem_monitor_config_file" value="$(find-pkg-share tier4_system_launch)/config/system_monitor/mem_monitor.param.yaml"/>
         <arg name="net_monitor_config_file" value="$(find-pkg-share tier4_system_launch)/config/system_monitor/net_monitor.param.yaml"/>

perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml

@@ -24,6 +24,7 @@
 
   <!-- debug -->
   <arg name="debug_mode" default="false"/>
+
   <arg name="filter_scope_minx" default="-100"/>
   <arg name="filter_scope_maxx" default="100"/>
   <arg name="filter_scope_miny" default="-100"/>

system/system_monitor/CMakeLists.txt

@@ -62,10 +62,16 @@ else()
   endif()
 endif()
 
+
 message(STATUS "HOST_SYSTEM_VERSION: " ${CMAKE_HOST_SYSTEM_VERSION})
 message(STATUS "SYSTEM_PROCESSOR: " ${CMAKE_SYSTEM_PROCESSOR})
 message(STATUS "CPU PLATFORM: " ${CMAKE_CPU_PLATFORM})
 message(STATUS "GPU PLATFORM: " ${CMAKE_GPU_PLATFORM})
+message(STATUS "HARDWARE PLATFORM: " ${CMAKE_HARDWARE_PLATFORM})
+
+ament_auto_add_library(hardware_monitor_lib SHARED
+  src/hardware_monitor/hardware_monitor.cpp
+)
 
 set(CPU_MONITOR_SOURCE
   src/cpu_monitor/cpu_monitor_base.cpp
@@ -129,6 +135,7 @@ find_package(Boost REQUIRED COMPONENTS
 )
 
 ## Specify libraries to link a library or executable target against
+target_link_libraries(hardware_monitor_lib ${Boost_LIBRARIES} ${LIBRARIES})
 target_link_libraries(cpu_monitor_lib ${Boost_LIBRARIES} ${LIBRARIES})
 target_link_libraries(hdd_monitor_lib ${Boost_LIBRARIES} ${LIBRARIES})
 target_link_libraries(mem_monitor_lib ${LIBRARIES})
@@ -175,6 +182,11 @@ rclcpp_components_register_node(gpu_monitor_lib
   EXECUTABLE gpu_monitor
 )
 
+rclcpp_components_register_node(hardware_monitor_lib
+  PLUGIN "HardwareMonitor"
+  EXECUTABLE hardware_monitor
+)
+
 # TODO(yunus.caliskan): Port the tests to ROS2, robustify the tests.
 if(BUILD_TESTING)
   # ament_add_ros_isolated_gtest(test_cpu_monitor
@@ -293,6 +305,10 @@ if(BUILD_TESTING)
 
 endif()
 
+#############
+## Install ##
+#############
+
 ament_auto_package(INSTALL_TO_SHARE
   launch
   config

system/system_monitor/config/hardware_monitor.param.yaml

@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    cmos_battery_warn: 2.90
+    cmos_battery_error: 2.70

system/system_monitor/include/system_monitor/hardware_monitor/hardware_monitor.hpp

@@ -0,0 +1,73 @@
+// Copyright 2020 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 hardware_monitor.h
+ * @brief  hardware monitor class
+ */
+
+#ifndef SYSTEM_MONITOR__HARDWARE_MONITOR__ADLINK_EHARDWARE_MONITOR_HPP_
+#define SYSTEM_MONITOR__HARDWARE_MONITOR__ADLINK_EHARDWARE_MONITOR_HPP_
+
+#include <diagnostic_updater/diagnostic_updater.hpp>
+
+#include <climits>
+#include <string>
+
+class HardwareMonitor : public rclcpp::Node
+{
+public:
+  /**
+   * @brief constructor
+   * @param [in] options Options associated with this node.
+   */
+  explicit HardwareMonitor(const rclcpp::NodeOptions & options);
+
+  /**
+   * @brief Update the diagnostic state.
+   */
+  void update();
+
+protected:
+  using DiagStatus = diagnostic_msgs::msg::DiagnosticStatus;
+
+  diagnostic_updater::Updater updater_;  //!< @brief Updater class which advertises to /diagnostics
+
+  char hostname_[HOST_NAME_MAX + 1];        //!< @brief host name
+
+  /**
+   * @brief check CMOS Battey
+   * @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 checkVoltage(
+    diagnostic_updater::DiagnosticStatusWrapper & stat);  // NOLINT(runtime/references)
+  /**
+   * @brief check CMOS Battey
+   * @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 checkBatteryStatus(
+    diagnostic_updater::DiagnosticStatusWrapper & stat);  // NOLINT(runtime/references)
+
+
+  bool sensors_exists_;                      //!< @brief flag if sensors exists
+  float voltage_warn_;
+  float voltage_error_;
+  std::string voltage_string_;
+};
+
+#endif  // SYSTEM_MONITOR__HARDWARE_MONITOR__ADLINK_EHARDWARE_MONITOR_HPP_

system/system_monitor/launch/system_monitor.launch.py

@@ -96,6 +96,16 @@ def launch_setup(context, *args, **kwargs):
             gpu_monitor_config,
         ],
     )
+    with open(LaunchConfiguration("hardware_monitor_config_file").perform(context), "r") as f:
+        hardware_monitor_config = yaml.safe_load(f)["/**"]["ros__parameters"]
+    hardware_monitor = ComposableNode(
+        package="system_monitor",
+        plugin="HardwareMonitor",
+        name="hardware_monitor",
+        parameters=[
+            hardware_monitor_config,
+        ],
+    )
 
     # set container to run all required components in the same process
     container = ComposableNodeContainer(
@@ -104,6 +114,7 @@ def launch_setup(context, *args, **kwargs):
         package="rclcpp_components",
         executable="component_container_mt",
         composable_node_descriptions=[
+            hardware_monitor,
             cpu_monitor,
             hdd_monitor,
             mem_monitor,
@@ -151,6 +162,10 @@ def generate_launch_description():
                 "gpu_monitor_config_file",
                 default_value=os.path.join(system_monitor_path, "gpu_monitor.param.yaml"),
             ),
+            DeclareLaunchArgument(
+                "hardware_monitor_config_file",
+                default_value=os.path.join(system_monitor_path, "hardware_monitor.param.yaml"),
+            ),
             OpaqueFunction(function=launch_setup),
         ]
     )

system/system_monitor/launch/system_monitor.launch.xml

@@ -1,16 +1,21 @@
 <launch>
   <arg name="cpu_monitor_config_file" default="$(find-pkg-share system_monitor)/config/cpu_monitor.param.yaml"/>
+  <arg name="hardware_monitor_config_file" default="$(find-pkg-share system_monitor)/config/hardware_monitor.param.yaml"/>
   <arg name="hdd_monitor_config_file" default="$(find-pkg-share system_monitor)/config/hdd_monitor.param.yaml"/>
   <arg name="mem_monitor_config_file" default="$(find-pkg-share system_monitor)/config/mem_monitor.param.yaml"/>
   <arg name="net_monitor_config_file" default="$(find-pkg-share system_monitor)/config/net_monitor.param.yaml"/>
   <arg name="ntp_monitor_config_file" default="$(find-pkg-share system_monitor)/config/ntp_monitor.param.yaml"/>
   <arg name="process_monitor_config_file" default="$(find-pkg-share system_monitor)/config/process_monitor.param.yaml"/>
   <arg name="gpu_monitor_config_file" default="$(find-pkg-share system_monitor)/config/gpu_monitor.param.yaml"/>
+  <arg name="hardware_monitor_config_file" default="$(find-pkg-share system_monitor)/config/hardware_monitor.param.yaml"/>
 
   <group>
     <node pkg="system_monitor" exec="cpu_monitor" name="cpu_monitor" output="log" respawn="true">
       <param from="$(var cpu_monitor_config_file)"/>
     </node>
+    <node pkg="system_monitor" exec="hardware_monitor" name="hardware_monitor" output="log" respawn="true">
+      <param from="$(var hardware_monitor_config_file)"/>
+    </node>
     <node pkg="system_monitor" exec="hdd_monitor" name="hdd_monitor" output="log" respawn="true">
       <param from="$(var hdd_monitor_config_file)"/>
     </node>
@@ -29,5 +34,8 @@
     <node pkg="system_monitor" exec="gpu_monitor" name="gpu_monitor" output="log" respawn="true">
       <param from="$(var gpu_monitor_config_file)"/>
     </node>
+    <node pkg="system_monitor" exec="hardware_monitor" name="hardware_monitor" output="log" respawn="true">
+      <param from="$(var hardware_monitor_config_file)"/>
+    </node>
   </group>
 </launch>