feat(system_monitor): add on/off config for network traffic monitor

system/system_monitor/config/net_monitor.param.yaml

@@ -2,6 +2,7 @@
   ros__parameters:
     devices: ["*"]
     monitor_program: "greengrass"
+    enable_traffic_monitor: true
     crc_error_check_duration: 1
     crc_error_count_threshold: 1
     reassembles_failed_check_duration: 1

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

@@ -227,6 +227,11 @@ class NetMonitor : public rclcpp::Node
    */
   void send_start_nethogs_request();
 
+  /**
+   * @brief Send request to skip nethogs
+   */
+  void send_skip_nethogs_request();
+
   /**
    * @brief Get result of nethogs
    * @param [out] result result of nethogs
@@ -291,6 +296,7 @@ class NetMonitor : public rclcpp::Node
   int getifaddrs_error_code_;                    //!< @brief Error code set by getifaddrs()
   std::vector<NetworkInfomation> network_list_;  //!< @brief List of Network information
 
+  bool enable_traffic_monitor_;         //!< @brief enable nethogs
   std::string monitor_program_;         //!< @brief nethogs monitor program name
   std::string socket_path_;             //!< @brief Path of UNIX domain socket
   boost::asio::io_service io_service_;  //!< @brief Core I/O functionality

system/system_monitor/include/system_monitor/traffic_reader/traffic_reader_common.hpp

@@ -35,6 +35,7 @@ enum Request {
   NONE = 0,
   START_NETHOGS,
   GET_RESULT,
+  SKIP_NETHOGS,
 };
 
 /**

system/system_monitor/include/system_monitor/traffic_reader/traffic_reader_service.hpp

@@ -69,6 +69,11 @@ class TrafficReaderService
    */
   void start_nethogs(boost::archive::text_iarchive & archive);
 
+  /**
+   * @brief Skip nethogs
+   */
+  void skip_nethogs();
+
   /**
    * @brief Get command line of process from nethogs output
    * @param[in] line nethogs output

system/system_monitor/reader/traffic_reader/traffic_reader_service.cpp

@@ -23,6 +23,7 @@
 #include <boost/process.hpp>
 
 #include <fmt/format.h>
+#include <signal.h>
 #include <syslog.h>
 
 namespace process = boost::process;
@@ -120,6 +121,9 @@
     case Request::GET_RESULT:
       get_result();
       break;
+    case Request::SKIP_NETHOGS:
+      skip_nethogs();
+      break;
     default:
       syslog(LOG_WARNING, "Unknown message. %d\n", request_id);
       break;
@@ -153,6 +157,19 @@
   thread_ = std::thread(&TrafficReaderService::execute_nethogs, this);
 }
 
+void TrafficReaderService::skip_nethogs()
+{
+  syslog(LOG_INFO, "Skipping nethogs...\n");
+
+  if (thread_.joinable()) {
+    {
+      std::lock_guard<std::mutex> lock(mutex_);
+      stop_ = true;
+    }
+    thread_.join();
+  }
+}
+
 void TrafficReaderService::get_result()
 {
   // Inform ros node
@@ -234,7 +251,9 @@
     }
   }
 
-  c.terminate();
+  // Send SIGKILL instead of using c.terminate() to avoid a zombie process
+  kill(c.id(), SIGKILL);
+  c.wait();
 
   std::ostringstream out_stream;
   is_error >> out_stream.rdbuf();

system/system_monitor/src/net_monitor/net_monitor.cpp

@@ -41,6 +41,7 @@
   device_params_(
     declare_parameter<std::vector<std::string>>("devices", std::vector<std::string>())),
   getifaddrs_error_code_(0),
+  enable_traffic_monitor_(declare_parameter<bool>("enable_traffic_monitor", true)),
   monitor_program_(declare_parameter<std::string>("monitor_program", "greengrass")),
   socket_path_(declare_parameter("socket_path", traffic_reader_service::socket_path)),
   crc_error_check_duration_(declare_parameter<int>("crc_error_check_duration", 1)),
@@ -81,7 +82,11 @@
   get_reassembles_failed_column_index();
 
   // Send request to start nethogs
-  send_start_nethogs_request();
+  if (enable_traffic_monitor_) {
+    send_start_nethogs_request();
+  } else {
+    send_skip_nethogs_request();
+  }
 }
 
 NetMonitor::~NetMonitor()
@@ -234,38 +239,43 @@
   // Remember start time to measure elapsed time
   const auto t_start = SystemMonitorUtility::startMeasurement();
 
-  // Get result of nethogs
-  traffic_reader_service::Result result;
-  get_nethogs_result(result);
-
-  // traffic_reader result to output
-  if (result.error_code != EXIT_SUCCESS) {
-    status.summary(DiagStatus::ERROR, "traffic_reader error");
-    status.add("error", result.output);
-  } else {
-    status.summary(DiagStatus::OK, "OK");
+  if (enable_traffic_monitor_) {
+    // Get result of nethogs
+    traffic_reader_service::Result result;
+    get_nethogs_result(result);
 
-    if (result.output.empty()) {
-      status.add("nethogs: result", fmt::format("No data monitored: {}", monitor_program_));
+    // traffic_reader result to output
+    if (result.error_code != EXIT_SUCCESS) {
+      status.summary(DiagStatus::ERROR, "traffic_reader error");
+      status.add("error", result.output);
     } else {
-      std::stringstream lines{result.output};
-      std::string line;
-      std::vector<std::string> list;
-      int index = 0;
-      while (std::getline(lines, line)) {
-        if (line.empty()) continue;
-
-        boost::split(list, line, boost::is_any_of("\t"), boost::token_compress_on);
-        if (list.size() > 3) {
-          status.add(fmt::format("nethogs {}: program", index), list[3].c_str());
-          status.add(fmt::format("nethogs {}: sent (KB/s)", index), list[1].c_str());
-          status.add(fmt::format("nethogs {}: received (KB/sec)", index), list[2].c_str());
-        } else {
-          status.add(fmt::format("nethogs {}: result", index), line);
+      status.summary(DiagStatus::OK, "OK");
+
+      if (result.output.empty()) {
+        status.add("nethogs: result", fmt::format("No data monitored: {}", monitor_program_));
+      } else {
+        std::stringstream lines{result.output};
+        std::string line;
+        std::vector<std::string> list;
+        int index = 0;
+        while (std::getline(lines, line)) {
+          if (line.empty()) continue;
+
+          boost::split(list, line, boost::is_any_of("\t"), boost::token_compress_on);
+          if (list.size() > 3) {
+            status.add(fmt::format("nethogs {}: program", index), list[3].c_str());
+            status.add(fmt::format("nethogs {}: sent (KB/s)", index), list[1].c_str());
+            status.add(fmt::format("nethogs {}: received (KB/sec)", index), list[2].c_str());
+          } else {
+            status.add(fmt::format("nethogs {}: result", index), line);
+          }
+          ++index;
         }
-        ++index;
       }
     }
+  } else {
+    status.summary(DiagStatus::OK, "OK");
+    status.add("nethogs: result", "traffic monitor is NOT activated");
   }
 
   // Measure elapsed time since start time and report
@@ -624,6 +634,21 @@
   close_connection();
 }
 
+void NetMonitor::send_skip_nethogs_request()
+{
+  // Connect to boot/shutdown service
+  if (!connect_service()) {
+    close_connection();
+    return;
+  }
+
+  // Send data to traffic-reader service
+  send_data(traffic_reader_service::SKIP_NETHOGS);
+
+  // Close connection with traffic-reader service
+  close_connection();
+}
+
 void NetMonitor::get_nethogs_result(traffic_reader_service::Result & result)
 {
   // Connect to traffic-reader service