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Add support for system values reporting #33

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merged 8 commits into from
Jan 4, 2024
Merged

Add support for system values reporting #33

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82dd3bc
Adds support for system stats reporting
Jan 3, 2024
349a806
Fixing lines 845 and 846 (lint error)
Jan 3, 2024
6c3f301
Changed method signature to mantain same format with other methods
Jan 3, 2024
92c67f9
Fixing comments identation
Jan 3, 2024
653162b
Adding throttling
Jan 3, 2024
a541840
Checking elapsed_seconds is not none
Jan 3, 2024
8ba9f24
Removing network implementation
Jan 3, 2024
6038146
Adding 0.0 validation to avoid crashes when using None type on protob…
Jan 3, 2024
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31 changes: 31 additions & 0 deletions inorbit_edge/robot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,7 @@
CustomScriptStatusMessage,
CustomCommandRosMessage,
CameraMessage,
SystemStatsMessage,
)
from inorbit_edge.video import CameraStreamer, Camera
from inorbit_edge.missions import MissionsModule
Expand Down Expand Up @@ -56,6 +57,7 @@
MQTT_SUBTOPIC_STATE = "state"
MQTT_SUBTOPIC_CAMERA_V2 = "ros/camera2"
MQTT_SUBTOPIC_OUT_CMD = "out_cmd"
MQTT_SUBTOPIC_SYSTEM_STATS = "system/stats"

MQTT_TOPIC_ECHO = "echo"
MQTT_NAV_GOAL_GOAL = "ros/loc/nav_goal"
Expand Down Expand Up @@ -829,6 +831,35 @@ def set_pairs(key):

self.publish_protobuf(MQTT_SUBTOPIC_CUSTOM_DATA, msg)

def publish_system_stats(self, system_values):
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I suggest changing this method's signature to publish_system_stats(self, cpu_load_percentage=None, ram_usage_percentage=None, hdd_usage_percentage=None, total_tx=None, total_rx=None, ts=None, elapsed_seconds=None) This way the SDK users can leverage IDE autocomplete features and minimize the chances of typos in the field names.

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nice suggestion, I agree :)

"""Publishes system information (CPU load, RAM usage, HDD usage, network stats)

Args:
system_values (dict): Key value mappings to publish
{
cpu_load_percentage (float, value between 0.0 and 1.0): CPU usage.
ram_usage_percentage (float, value between 0.0 and 1.0): RAM usage.
hdd_usage_percentage (float, value between 0.0 and 1.0): HDD usage.
total_tx (int): Total bytes transmitted
total_rx (int): Total bytes received
ts (int): Timestamp. Defaults to int(time() * 1000).
It is needed to calculate the network rate in InOrbit
elapsed_seconds (float): Duration of the reported period.
It is needed to calculate the network rate in InOrbit
}
"""
msg = SystemStatsMessage()
msg.cpu_load_percentage = system_values.get("cpu_load_percentage")
msg.ram_usage_percentage = system_values.get("ram_usage_percentage")
msg.hdd_usage_percentage = system_values.get("hdd_usage_percentage")
msg.total_tx = system_values.get("total_tx")
msg.total_rx = system_values.get("total_rx")
ts = system_values.get("ts")
msg.timestamp = ts if ts else int(time.time() * 1000)
msg.elapsed_seconds = system_values.get("elapsed_seconds")

self.publish_protobuf(MQTT_SUBTOPIC_SYSTEM_STATS, msg)

def publish_odometry(
self,
ts_start=None,
Expand Down
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