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Add USB status monitoring and power consumption metrics to robot status node #18

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Merged
SeanChangX merged 1 commit into from
Mar 20, 2025
Merged

Add USB status monitoring and power consumption metrics to robot status node #18

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1 change: 1 addition & 0 deletions app/robot_status_bridge/docker-compose.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,7 @@ services:
# Mount app resources into container.
- ./robot_status_br/:/home/ros/robot_status_br/ # ros2 workspace
- /sys/class:/sys/class:ro # for system status monitoring
- /dev:/dev # for usb status monitoring

# Mount local timezone into container.
- /etc/timezone:/etc/timezone:ro
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25 changes: 18 additions & 7 deletions app/robot_status_bridge/robot_status_br/src/robot_status_monitor/src/robot_status_node.cpp
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Expand Up @@ -17,17 +17,22 @@ std::string hostname = get_valid_hostname();

// Set the refresh rate for each topic (seconds)
topic_refresh_rates_ = {
{"/robot_status/battery", 5.0},
{"/robot_status/charging", 10.0},
{"/robot_status/cpu", 1.0},
{"/robot_status/cpu_temp", 1.0},
{"/robot_status/ram", 1.0},
{"/robot_status/wifi_signal", 1.0},
{"/robot_status/battery", 5.0},
{"/robot_status/charging", 10.0},
{"/robot_status/power", 1.0},
{"/robot_status/cpu", 1.0},
{"/robot_status/cpu_temp", 1.0},
{"/robot_status/ram", 1.0},
{"/robot_status/wifi_signal", 1.0},
{"/robot_status/wifi_connected", 5.0},
{"/robot_status/wifi_ssid", 5.0},
{"/robot_status/disk", 60.0},
{"/robot_status/robot_ip", 5.0},
{"/robot_status/uptime", 30.0}
{"/robot_status/uptime", 30.0},
{"/robot_status/usb/mission", 10.0},
{"/robot_status/usb/chassis", 10.0},
{"/robot_status/usb/lidar", 10.0},
{"/robot_status/usb/esp", 10.0},
};

// Set the shell commands for each topic
Expand All @@ -36,6 +41,8 @@ std::string hostname = get_valid_hostname();
{"/robot_status/battery", {"std_msgs::msg::Int32", "cat /sys/class/power_supply/BAT0/capacity 2>/dev/null || cat /sys/class/power_supply/BAT1/capacity 2>/dev/null" }},
// Check if BAT0 or BAT1 is charging
{"/robot_status/charging", {"std_msgs::msg::Bool", "cat /sys/class/power_supply/BAT0/status 2>/dev/null | grep -q 'Charging' || cat /sys/class/power_supply/BAT1/status 2>/dev/null | grep -q 'Charging' && echo 1 || echo 0" }},
// Get real-time power consumption in watts
{"/robot_status/power", {"std_msgs::msg::Float32", "awk '{getline v < \"/sys/class/power_supply/BAT0/voltage_now\"; printf \"%.1f\", v * $1 / 1000000000000}' /sys/class/power_supply/BAT0/current_now" }},
// Get CPU usage percentage
{"/robot_status/cpu", {"std_msgs::msg::Float32", "top -bn1 | grep 'Cpu(s)' | awk '{print 100 - $8}'" }},
// Get CPU temperature in Celsius
Expand All @@ -54,6 +61,10 @@ std::string hostname = get_valid_hostname();
{"/robot_status/robot_ip", {"std_msgs::msg::String", "hostname -I | awk '{print $1}'" }},
// Get system uptime in hours
{"/robot_status/uptime", {"std_msgs::msg::Float32", "awk '{print $1/3600}' /proc/uptime" }},
{"/robot_status/usb/mission", {"std_msgs::msg::Bool", "[ -e /dev/mission ] && echo 1 || echo 0" }},
{"/robot_status/usb/chassis", {"std_msgs::msg::Bool", "[ -e /dev/chassis ] && echo 1 || echo 0" }},
{"/robot_status/usb/lidar", {"std_msgs::msg::Bool", "[ -e /dev/lidar ] && echo 1 || echo 0" }},
{"/robot_status/usb/esp", {"std_msgs::msg::Bool", "[ -e /dev/esp ] && echo 1 || echo 0" }},
};

// Create publishers and timers based on the data type
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