fix(system_monitor): fix program command line reading (backport autow…

…arefoundation#5191, autowarefoundation#5430) (#995)

* perf(system_monitor): fix program command line reading (autowarefoundation#5191)

* Fix program command line reading

Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp>

* style(pre-commit): autofix

* fix spelling commandline->command_line

Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp>

---------

Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp>
Co-authored-by: Owen-Liuyuxuan <uken.ryu@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* fix(system_monitor): output command line (autowarefoundation#5430)

* fix(system_monitor): output command line

Signed-off-by: takeshi.iwanari <takeshi.iwanari@tier4.jp>

* style(pre-commit): autofix

---------

Signed-off-by: takeshi.iwanari <takeshi.iwanari@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

---------

Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp>
Signed-off-by: takeshi.iwanari <takeshi.iwanari@tier4.jp>
Co-authored-by: Yuxuan Liu <619684051@qq.com>
Co-authored-by: Owen-Liuyuxuan <uken.ryu@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: takeshi-iwanari <takeshi.iwanari@tier4.jp>
Co-authored-by: Akihisa Nagata <54956813+asa-naki@users.noreply.github.com>

system/system_monitor/include/system_monitor/process_monitor/process_monitor.hpp

@@ -88,6 +88,14 @@ class ProcessMonitor : public rclcpp::Node
    */
   void getHighMemoryProcesses(const std::string & output);
 
+  /**
+   * @brief get command line from process id
+   * @param [in] pid process id
+   * @param [out] command output command line
+   * @return true if success to get command line name
+   */
+  bool getCommandLineFromPiD(const std::string & pid, std::string & command);
+
   /**
    * @brief get top-rated processes
    * @param [in] tasks list of diagnostics tasks for high load procs

system/system_monitor/src/process_monitor/process_monitor.cpp

@@ -414,6 +414,27 @@ void ProcessMonitor::getHighMemoryProcesses(const std::string & output)
   getTopratedProcesses(&memory_tasks_, &p2);
 }
 
+bool ProcessMonitor::getCommandLineFromPiD(const std::string & pid, std::string & command)
+{
+  std::string commandLineFilePath = "/proc/" + pid + "/cmdline";
+  std::ifstream commandFile(commandLineFilePath, std::ios::in | std::ios::binary);
+
+  if (commandFile.is_open()) {
+    std::vector<uint8_t> buffer;
+    std::copy(
+      std::istream_iterator<uint8_t>(commandFile), std::istream_iterator<uint8_t>(),
+      std::back_inserter(buffer));
+    commandFile.close();
+    std::replace(
+      buffer.begin(), buffer.end(), '\0',
+      ' ');  // 0x00 is used as delimiter in /cmdline instead of 0x20 (space)
+    command = std::string(buffer.begin(), buffer.end());
+    return (buffer.size() > 0) ? true : false;  // cmdline is empty if it is kernel process
+  } else {
+    return false;
+  }
+}
+
 void ProcessMonitor::getTopratedProcesses(
   std::vector<std::shared_ptr<DiagTask>> * tasks, bp::pipe * p)
 {
@@ -462,7 +483,14 @@ void ProcessMonitor::getTopratedProcesses(
       info.virtualImage >> info.residentSize >> info.sharedMemSize >> info.processStatus >>
       info.cpuUsage >> info.memoryUsage >> info.cpuTime;
 
-    std::getline(stream, info.commandName);
+    std::string program_name;
+    std::getline(stream, program_name);
+
+    bool flag_find_command_line = getCommandLineFromPiD(info.processId, info.commandName);
+
+    if (!flag_find_command_line) {
+      info.commandName = program_name;  // if command line is not found, use program name instead
+    }
 
     tasks->at(index)->setDiagnosticsStatus(DiagStatus::OK, "OK");
     tasks->at(index)->setProcessInformation(info);
@@ -515,7 +543,7 @@ void ProcessMonitor::onTimer()
   std::ostringstream os;
 
   // Get processes
-  bp::child c("top -bcn1 -o %CPU -w 256", bp::std_out > is_out, bp::std_err > is_err);
+  bp::child c("top -bn1 -o %CPU -w 128", bp::std_out > is_out, bp::std_err > is_err);
   c.wait();
 
   if (c.exit_code() != 0) {