def jetson_callback(self, jetson):
# Add timestamp
self.arr.header.stamp = rospy.Time.now()
# Status board and board info
self.arr.status = [other_status(self.hardware, jetson, jtop.__version__)]
# Make diagnostic message for each cpu
self.arr.status += [cpu_status(self.hardware, name, jetson.cpu[name]) for name in jetson.cpu]
# Merge all other diagnostics
self.arr.status += [gpu_status(self.hardware, jetson.gpu)]
self.arr.status += [ram_status(self.hardware, jetson.ram, 'mem')]
self.arr.status += [swap_status(self.hardware, jetson.swap, 'mem')]
self.arr.status += [emc_status(self.hardware, jetson.emc, 'mem')]
# Temperature
self.arr.status += [temp_status(self.hardware, jetson.temperature, self.level_options)]
# Read power
total, power = jetson.power
if power:
self.arr.status += [power_status(self.hardware, total, power)]
# Fan controller
if jetson.fan:
self.arr.status += [fan_status(self.hardware, jetson.fan, 'board')]
# Status board and board info
self.arr.status += [self.board_status]
# Add disk status
self.arr.status += [disk_status(self.hardware, jetson.disk, 'board')]
# Update status jtop
rospy.logdebug("jtop message %s" % rospy.get_time())
self.pub.publish(self.arr)
def wrapper(jetson):
# Load level options
level_options = {
rospy.get_param("~level/error", 60): DiagnosticStatus.ERROR,
rospy.get_param("~level/warning", 40): DiagnosticStatus.WARN,
rospy.get_param("~level/ok", 20): DiagnosticStatus.OK,
}
rospy.loginfo(level_options)
# Initialization ros pubblisher
pub = rospy.Publisher('/diagnostics', DiagnosticArray, queue_size=1)
# Set default rate jetson stats 2hz
rate_node = rospy.get_param("~rate", 2)
rate = rospy.Rate(rate_node)
# Extract board information
board = jetson.board
# Define hardware name
hardware = board["info"]["Machine"]
# Define Diagnostic array message
# http://docs.ros.org/api/diagnostic_msgs/html/msg/DiagnosticStatus.html
arr = DiagnosticArray()
# Initialization Tegrastats
while not rospy.is_shutdown():
# Save all stats
stats = jetson.stats
# Add timestamp
arr.header.stamp = rospy.Time.now()
# Status board and board info
arr.status = [other_status(hardware, jetson)]
# Make diagnostic message for each cpu
arr.status += [cpu_status(hardware, cpu) for cpu in stats['CPU']]
# Merge all other diagnostics
if 'GR3D' in stats:
arr.status += [gpu_status(hardware, stats['GR3D'])]
if 'RAM' in stats:
arr.status += [ram_status(hardware, stats['RAM'], 'mem')]
if 'SWAP' in stats:
arr.status += [swap_status(hardware, stats['SWAP'], 'mem')]
if 'EMC' in stats:
arr.status += [emc_status(hardware, stats['EMC'], 'mem')]
if 'FAN' in stats:
arr.status += [fan_status(hardware, stats['FAN'], 'board')]
if 'WATT' in stats:
arr.status += [power_status(hardware, stats['WATT'])]
if 'TEMP' in stats:
arr.status += [temp_status(hardware, stats['TEMP'], level_options)]
# Status board and board info
arr.status += [board_status(hardware, board, 'board')]
# Add disk status
arr.status += [disk_status(hardware, jetson.disk, 'board')]
# Update status jtop
rospy.logdebug("jtop message %s" % rospy.get_time())
pub.publish(arr)
rate.sleep()
def jetson_callback(self, jetson):
# Add timestamp
self.arr.header.stamp = rospy.Time.now()
# Status board and board info
self.arr.status = [
other_status(self.hardware, jetson, jtop.__version__)
]
# Make diagnostic message for each cpu
self.arr.status += [
cpu_status(self.hardware, name, jetson.cpu[name])
for name in jetson.cpu
]
# Merge all other diagnostics
self.arr.status += [gpu_status(self.hardware, jetson.gpu)]
self.arr.status += [ram_status(self.hardware, jetson.ram, 'mem')]
self.arr.status += [swap_status(self.hardware, jetson.swap, 'mem')]
self.arr.status += [emc_status(self.hardware, jetson.emc, 'mem')]
# Temperature
self.arr.status += [
temp_status(self.hardware, jetson.temperature, self.level_options)
]
# Read power
total, power = jetson.power
if power:
self.arr.status += [power_status(self.hardware, total, power)]
# Fan controller
if jetson.fan is not None:
self.arr.status += [fan_status(self.hardware, jetson.fan, 'board')]
# Status board and board info
self.arr.status += [self.board_status]
# Add disk status
self.arr.status += [disk_status(self.hardware, jetson.disk, 'board')]
# Update status jtop
rospy.logdebug("jtop message %s" % rospy.get_time())
self.pub.publish(self.arr)
# More condensed and plottable stats for Jetson supervision
if (
len(self.arr.status) == 18
): # The number and order of status entries depends on params/jtop.yaml !!
# Create Message
jetson_status = JetsonStatus()
# Pass on the time stamp
jetson_status.header.stamp = self.arr.header.stamp
# RAM
jetson_status.ram_used = KBYTE2MBYTE * float(
self.arr.status[10].values[0].value)
jetson_status.ram_shared = KBYTE2MBYTE * float(
self.arr.status[10].values[1].value)
jetson_status.ram_total = KBYTE2MBYTE * float(
self.arr.status[10].values[2].value)
# SWAP
jetson_status.swap_used = float(
self.arr.status[11].values[0].value)
jetson_status.swap_total = float(
self.arr.status[11].values[1].value)
# CPU temp
jetson_status.cpu_temp = float(
self.arr.status[13].values[6].value.rstrip("C"))
# GPU info
jetson_status.gpu_load = PERCENT2SHARE * float(
self.arr.status[9].values[0].value.rstrip("%"))
jetson_status.gpu_freq = int(self.arr.status[9].values[1].value)
# GPU temp
jetson_status.gpu_temp = float(
self.arr.status[13].values[4].value.rstrip("C"))
# CPU info
for i in range(1, 9):
if self.arr.status[i].message.lower() != "off":
jetson_status.cpu_load += [
PERCENT2SHARE *
float(self.arr.status[i].values[0].value.rstrip("%"))
]
jetson_status.cpu_freq += [
int(self.arr.status[i].values[1].value)
]
jetson_status.cpu_freq_unit += [
self.arr.status[i].values[2].value
]
jetson_status.cpu_governor += [
self.arr.status[i].values[3].value
]
else:
jetson_status.cpu_load += [0]
jetson_status.cpu_freq += [0]
jetson_status.cpu_freq_unit += [""]
jetson_status.cpu_governor += [""]
# Publish
self.pub_jetson_status.publish(jetson_status)