class MonitoringNode:
"""
Processes and rates incoming topicstatistics,
stores them for some time and publishes comparison results.
"""
def __init__(self):
self.__metadata_storage = MetadataStorage()
self.__specification_handler = SpecificationHandler()
self.__publisher = rospy.Publisher('/statistics_rated', arni_msgs.msg.RatedStatistics, queue_size=50)
self.__master_api_publisher = rospy.Publisher('/statistics_master', arni_msgs.msg.MasterApi, queue_size=10)
self.__pub_queue = []
self.__master_api_queue =[]
self.__aggregate = []
self.__aggregation_window = rospy.get_param("~aggregation_window", 3)
self.__aggregate_start = rospy.Time.now()
self.__processing_enabled = rospy.get_param("/enable_statistics", False)
self.__alive_timers = {}
self.__alive_countdown = {}
rospy.Timer(rospy.Duration(rospy.get_param("~publish_interval", 5)), self.__publish_queue)
rospy.Timer(rospy.Duration(rospy.get_param("~alive_interval", 5)), self.__check_alive)
rospy.Timer(rospy.Duration(rospy.get_param("~master_api_publish_interval", 1)), self.__pollMasterAPI)
rospy.Timer(rospy.Duration(rospy.get_param("/arni/check_enabled_interval", 10)), self.__update_enabled)
def __pollMasterAPI(self, event):
"""
Regularly polls the master api to get the most recent system state from rosgraph. This data is then published
on the /statistics_master topic.
"""
# poll master api and get most recent data
self.master = rosgraph.masterapi.Master("")
state = None
try:
state = self.master.getSystemState()
except rosgraph.masterapi.MasterException as e:
rospy.logerr("an error occured trying to connect to the master:\n%s\n%s" % (str(e), traceback.format_exc()))
return
pubs, subs, srvs = state
msg = MasterApi()
ent = MasterApiEntity()
for (topic, publisher) in pubs:
ent.name = topic
ent.content = publisher
msg.pubs.append(ent)
for (topic, subscriber) in subs:
ent.name = topic
ent.content = subscriber
msg.subs.append(ent)
for (service, provider) in srvs:
ent.name = service
ent.content = provider
msg.srvs.append(ent)
# publish this data on /statistics_master
self.__master_api_publisher.publish(msg)
def __update_enabled(self, event):
self.__processing_enabled = rospy.get_param("/enable_statistics", False)
def receive_master_api_data(self, data):
"""
Topic callback for incoming master api messages.
"""
# pubs, subs, srvs = data.pubs, data.subs, data.srvs
seuids = generate_seuids_from_master_api_data(data)
for seuid in seuids:
# for now only report that this connection is still alive - even though it might no longer transport
# any data
# TODO does this change the current behaviour of the program? And how could I prevent it
self.__report_alive(seuid)
def receive_data(self, data):
"""
Topic callback method.
Receives data from the topic, sends them to the storage,
lets them process and finally publishes the comparison result.
:param data: The data received from the topic.
"""
if self.__processing_enabled:
try:
seuid = SEUID(data)
self.__report_alive(str(seuid))
if seuid.topic is not None:
self.__report_alive(str(seuid.get_seuid("topic")))
try:
self.__process_data(data, seuid)
except Exception as msg:
rospy.logerr("an error occured processing the data:\n%s\n%s" % (msg, traceback.format_exc()))
except TypeError as msg:
rospy.logerr("received invalid message type:\n%s\n%s" % (msg, traceback.format_exc()))
except NameError as msg:
rospy.logerr("received invalid message type (%s):\n%s\n%s" % (type(data), msg, traceback.format_exc()))
def __process_data(self, data, identifier):
"""
Kicks off the processing of the received data.
:param data: Host or Node Statistics from the HostStatistics, TopicStatistics or NodeStatistics topics.
:type data: object
:param identifier: The seuid identifying the received data.
:type identifier: str
:return: RatedStatisticsContainer.
"""
if str(identifier)[0] == "c":
self.__aggregate_data(data, identifier)
result = self.__specification_handler.compare(data, str(identifier)).to_msg_type()
container = StorageContainer(rospy.Time.now(), str(identifier), data, result)
self.__metadata_storage.store(container)
self.__publish_data(result, False)
return result
def __check_alive(self, event):
"""
Iterates over all registered specifications and sends an error if no package is received but was expected.
"""
for seuid in self.__specification_handler.loaded_specifications():
if seuid not in self.__alive_timers.keys():
spec = self.__specification_handler.get(seuid)
alive_timer = spec.get("alive_timer")
if not alive_timer:
alive_timer = rospy.get_param("~alive_timer", 10)
else:
alive_timer = alive_timer[1]
self.__alive_timers[seuid] = rospy.Duration(alive_timer)
if seuid not in self.__alive_countdown.keys():
self.__alive_countdown[seuid] = rospy.Time.now()
if rospy.Time.now() >= self.__alive_countdown[seuid] + self.__alive_timers[seuid]:
r = RatedStatisticsContainer(seuid)
r.add_value("alive", ["False"], ["True"], [1])
r.add_value("window_start", self.__alive_countdown[seuid], None, None)
r.add_value("window_stop", rospy.Time.now(), None, None)
msg = r.to_msg_type()
self.__publish_data(msg)
def __report_alive(self, seuid):
"""
Report that messages with the given seuid still arrive.
:param seuid: The seuid of the message that arrived.
"""
self.__alive_countdown[seuid] = rospy.Time.now()
def __aggregate_data(self, data, identifier):
"""
Collect topic data and send them to get rated after a while.
:param data: A statistics message object
"""
res = self.__specification_handler.compare_topic(self.__aggregate)
if self.__aggregate is None or \
older_than(self.__aggregate_start, rospy.Duration(self.__aggregation_window)):
for r in res:
container = StorageContainer(rospy.Time.now(), str(identifier), data, r)
self.__metadata_storage.store(container)
self.__publish_data(r, False)
current_data = []
for message in self.__aggregate:
if not older_than(message.window_stop, rospy.Duration(self.__aggregation_window)):
current_data.append(message)
self.__aggregate = current_data
self.__aggregate_start = rospy.Time.now()
self.__aggregate.append(data)
def __publish_data(self, data, queue=True):
"""
Pushes a RatedStatistics object to the queue to publish.
:param data: RatedStatistics object
"""
if queue:
self.__pub_queue.append(data)
else:
self.__publisher.publish(data)
def __publish_queue(self, event):
"""
Publishes data to the RatedStatistics topic.
:param event: rospy.TimerEvent
"""
for data in self.__pub_queue:
self.__publisher.publish(data)
self.__pub_queue = []
def storage_server(self, request):
"""
Returns StorageContainer objects on request.
:param request: The request containing a timestamp and an identifier.
:type request: StatisticHistoryRequest.
:returns: StatisticHistoryResponse
"""
data = self.__metadata_storage.get("*", request.timestamp)
response = StatisticHistoryResponse()
for container in data:
if container.identifier[0] == "h":
if rospy.Time.now() >= self.__alive_countdown[container.identifier] + self.__alive_timers[container.identifier]:
print("no longer alive - not reporting.")
else:
response.host_statistics.append(container.data_raw)
response.rated_host_statistics.append(container.data_rated)
elif container.identifier[0] == "n":
if rospy.Time.now() >= self.__alive_countdown[container.identifier] + self.__alive_timers[container.identifier]:
print("no longer alive - not reporting.")
else:
response.node_statistics.append(container.data_raw)
response.rated_node_statistics.append(container.data_rated)
elif container.identifier[0] == "c":
if rospy.Time.now() >= self.__alive_countdown[container.identifier] + self.__alive_timers[container.identifier]:
print("no longer alive - not reporting.")
else:
response.topic_statistics.append(container.data_raw)
response.rated_topic_statistics.append(container.data_rated)
elif container.identifier[0] == "t":
if rospy.Time.now() >= self.__alive_countdown[container.identifier] + self.__alive_timers[container.identifier]:
print("no longer alive - not reporting.")
else:
response.rated_topic_statistics.append(container.data_rated)
return response
def listener(self):
"""
Sets up all necessary subscribers and services.
"""
rospy.Subscriber('/statistics', rosgraph_msgs.msg.TopicStatistics, self.receive_data)
rospy.Subscriber('/statistics_host', arni_msgs.msg.HostStatistics, self.receive_data)
rospy.Subscriber('/statistics_node', arni_msgs.msg.NodeStatistics, self.receive_data)
rospy.Subscriber('/statistics_master', arni_msgs.msg.MasterApi, self.receive_master_api_data)
rospy.Service('~reload_specifications', std_srvs.srv.Empty, self.__specification_handler.reload_specifications)
rospy.Service('~get_statistic_history', arni_msgs.srv.StatisticHistory, self.storage_server)
rospy.spin()
class MonitoringNode:
"""
Processes and rates incoming topicstatistics,
stores them for some time and publishes comparison results.
"""
def __init__(self):
self.__metadata_storage = MetadataStorage()
self.__specification_handler = SpecificationHandler()
self.__publisher = rospy.Publisher('/statistics_rated',
arni_msgs.msg.RatedStatistics,
queue_size=50)
self.__master_api_publisher = rospy.Publisher('/statistics_master',
arni_msgs.msg.MasterApi,
queue_size=10)
self.__pub_queue = []
self.__master_api_queue = []
self.__aggregate = []
self.__aggregation_window = rospy.get_param("~aggregation_window", 3)
self.__aggregate_start = rospy.Time.now()
self.__processing_enabled = rospy.get_param("/enable_statistics",
False)
self.__alive_timers = {}
self.__alive_countdown = {}
rospy.Timer(rospy.Duration(rospy.get_param("~publish_interval", 5)),
self.__publish_queue)
rospy.Timer(rospy.Duration(rospy.get_param("~alive_interval", 5)),
self.__check_alive)
rospy.Timer(
rospy.Duration(rospy.get_param("~master_api_publish_interval", 1)),
self.__pollMasterAPI)
rospy.Timer(
rospy.Duration(rospy.get_param("/arni/check_enabled_interval",
10)), self.__update_enabled)
def __pollMasterAPI(self, event):
"""
Regularly polls the master api to get the most recent system state from rosgraph. This data is then published
on the /statistics_master topic.
"""
# poll master api and get most recent data
self.master = rosgraph.masterapi.Master("")
state = None
try:
state = self.master.getSystemState()
except rosgraph.masterapi.MasterException as e:
rospy.logerr(
"an error occured trying to connect to the master:\n%s\n%s" %
(str(e), traceback.format_exc()))
return
pubs, subs, srvs = state
msg = MasterApi()
ent = MasterApiEntity()
for (topic, publisher) in pubs:
ent.name = topic
ent.content = publisher
msg.pubs.append(ent)
for (topic, subscriber) in subs:
ent.name = topic
ent.content = subscriber
msg.subs.append(ent)
for (service, provider) in srvs:
ent.name = service
ent.content = provider
msg.srvs.append(ent)
# publish this data on /statistics_master
self.__master_api_publisher.publish(msg)
def __update_enabled(self, event):
self.__processing_enabled = rospy.get_param("/enable_statistics",
False)
def receive_master_api_data(self, data):
"""
Topic callback for incoming master api messages.
"""
# pubs, subs, srvs = data.pubs, data.subs, data.srvs
seuids = generate_seuids_from_master_api_data(data)
for seuid in seuids:
# for now only report that this connection is still alive - even though it might no longer transport
# any data
# TODO does this change the current behaviour of the program? And how could I prevent it
self.__report_alive(seuid)
def receive_data(self, data):
"""
Topic callback method.
Receives data from the topic, sends them to the storage,
lets them process and finally publishes the comparison result.
:param data: The data received from the topic.
"""
if self.__processing_enabled:
try:
seuid = SEUID(data)
self.__report_alive(str(seuid))
if seuid.topic is not None:
self.__report_alive(str(seuid.get_seuid("topic")))
try:
self.__process_data(data, seuid)
except Exception as msg:
rospy.logerr(
"an error occured processing the data:\n%s\n%s" %
(msg, traceback.format_exc()))
except TypeError as msg:
rospy.logerr("received invalid message type:\n%s\n%s" %
(msg, traceback.format_exc()))
except NameError as msg:
rospy.logerr("received invalid message type (%s):\n%s\n%s" %
(type(data), msg, traceback.format_exc()))
def __process_data(self, data, identifier):
"""
Kicks off the processing of the received data.
:param data: Host or Node Statistics from the HostStatistics, TopicStatistics or NodeStatistics topics.
:type data: object
:param identifier: The seuid identifying the received data.
:type identifier: str
:return: RatedStatisticsContainer.
"""
if str(identifier)[0] == "c":
self.__aggregate_data(data, identifier)
result = self.__specification_handler.compare(
data, str(identifier)).to_msg_type()
container = StorageContainer(rospy.Time.now(), str(identifier), data,
result)
self.__metadata_storage.store(container)
self.__publish_data(result, False)
return result
def __check_alive(self, event):
"""
Iterates over all registered specifications and sends an error if no package is received but was expected.
"""
for seuid in self.__specification_handler.loaded_specifications():
if seuid not in self.__alive_timers.keys():
spec = self.__specification_handler.get(seuid)
alive_timer = spec.get("alive_timer")
if not alive_timer:
alive_timer = rospy.get_param("~alive_timer", 10)
else:
alive_timer = alive_timer[1]
self.__alive_timers[seuid] = rospy.Duration(alive_timer)
if seuid not in self.__alive_countdown.keys():
self.__alive_countdown[seuid] = rospy.Time.now()
if rospy.Time.now(
) >= self.__alive_countdown[seuid] + self.__alive_timers[seuid]:
r = RatedStatisticsContainer(seuid)
r.add_value("alive", ["False"], ["True"], [1])
r.add_value("window_start", self.__alive_countdown[seuid],
None, None)
r.add_value("window_stop", rospy.Time.now(), None, None)
msg = r.to_msg_type()
self.__publish_data(msg)
def __report_alive(self, seuid):
"""
Report that messages with the given seuid still arrive.
:param seuid: The seuid of the message that arrived.
"""
self.__alive_countdown[seuid] = rospy.Time.now()
def __aggregate_data(self, data, identifier):
"""
Collect topic data and send them to get rated after a while.
:param data: A statistics message object
"""
res = self.__specification_handler.compare_topic(self.__aggregate)
if self.__aggregate is None or \
older_than(self.__aggregate_start, rospy.Duration(self.__aggregation_window)):
for r in res:
container = StorageContainer(rospy.Time.now(), str(identifier),
data, r)
self.__metadata_storage.store(container)
self.__publish_data(r, False)
current_data = []
for message in self.__aggregate:
if not older_than(message.window_stop,
rospy.Duration(self.__aggregation_window)):
current_data.append(message)
self.__aggregate = current_data
self.__aggregate_start = rospy.Time.now()
self.__aggregate.append(data)
def __publish_data(self, data, queue=True):
"""
Pushes a RatedStatistics object to the queue to publish.
:param data: RatedStatistics object
"""
if queue:
self.__pub_queue.append(data)
else:
self.__publisher.publish(data)
def __publish_queue(self, event):
"""
Publishes data to the RatedStatistics topic.
:param event: rospy.TimerEvent
"""
for data in self.__pub_queue:
self.__publisher.publish(data)
self.__pub_queue = []
def storage_server(self, request):
"""
Returns StorageContainer objects on request.
:param request: The request containing a timestamp and an identifier.
:type request: StatisticHistoryRequest.
:returns: StatisticHistoryResponse
"""
data = self.__metadata_storage.get("*", request.timestamp)
response = StatisticHistoryResponse()
for container in data:
if container.identifier[0] == "h":
if rospy.Time.now() >= self.__alive_countdown[
container.identifier] + self.__alive_timers[
container.identifier]:
print("no longer alive - not reporting.")
else:
response.host_statistics.append(container.data_raw)
response.rated_host_statistics.append(container.data_rated)
elif container.identifier[0] == "n":
if rospy.Time.now() >= self.__alive_countdown[
container.identifier] + self.__alive_timers[
container.identifier]:
print("no longer alive - not reporting.")
else:
response.node_statistics.append(container.data_raw)
response.rated_node_statistics.append(container.data_rated)
elif container.identifier[0] == "c":
if rospy.Time.now() >= self.__alive_countdown[
container.identifier] + self.__alive_timers[
container.identifier]:
print("no longer alive - not reporting.")
else:
response.topic_statistics.append(container.data_raw)
response.rated_topic_statistics.append(
container.data_rated)
elif container.identifier[0] == "t":
if rospy.Time.now() >= self.__alive_countdown[
container.identifier] + self.__alive_timers[
container.identifier]:
print("no longer alive - not reporting.")
else:
response.rated_topic_statistics.append(
container.data_rated)
return response
def listener(self):
"""
Sets up all necessary subscribers and services.
"""
rospy.Subscriber('/statistics', rosgraph_msgs.msg.TopicStatistics,
self.receive_data)
rospy.Subscriber('/statistics_host', arni_msgs.msg.HostStatistics,
self.receive_data)
rospy.Subscriber('/statistics_node', arni_msgs.msg.NodeStatistics,
self.receive_data)
rospy.Subscriber('/statistics_master', arni_msgs.msg.MasterApi,
self.receive_master_api_data)
rospy.Service('~reload_specifications', std_srvs.srv.Empty,
self.__specification_handler.reload_specifications)
rospy.Service('~get_statistic_history', arni_msgs.srv.StatisticHistory,
self.storage_server)
rospy.spin()