Initial commit for monitoring framework

Added a dummy ServiceWrapper for ros_graph_parser
TBD: convert response string to ros model for comparison

Signed-off-by: Harsh Deshpande <harshavardhan.deshpande@ipa.fraunhofer.de>

Author: hsd-dev

CMakeLists.txt

@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(rosgraph_monitor)
+
+find_package(catkin REQUIRED COMPONENTS
+    rospy
+)
+
+catkin_python_setup()
+
+catkin_package()
+
+install(DIRECTORY launch
+   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+

LICENSE

@@ -0,0 +1,201 @@
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README.md

@@ -1,20 +1,2 @@
 # rosgraph_monitor
-Monitors the status of nodes and topics currently running.
 
-Triggers notifications on changes in the ROS graph(?)
-  - new node connected, node not responding, etc
-  - based on the monitor "requested for"
-    - topic publish hz is "too low"
-
-**Reference repos:**  
-Utilize Log messages to read the node status?  
-http://docs.ros.org/api/rosgraph_msgs/html/msg/Log.html
-
-Implementation of EMF
-https://github.com/pyecore/pyecore
-
-http://docs.ros.org/melodic/api/diagnostic_msgs/html/msg/DiagnosticStatus.html  
-
-**Terminologies:** (from OPC-UA)  
-MonitoredItem - entities to monitor *Nodes*, create *Notification* when change detected for clients through *Subscriptions*  
-Subscription - publishes *Notifications* to client

package.xml

@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>rosgraph_monitor</name>
+  <version>0.0.1</version>
+  <description>ROS graph monitor</description>
+
+  <maintainer email="hsd@ipa.fraunhofer.de">Harsh Deshpande</maintainer>
+  <license>Apache 2.0</license>
+  <author email="hsd@ipa.fraunhofer.de">Harsh Deshpande</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  
+  <exec_depend>rospy</exec_depend>
+
+  <export>
+  </export>
+</package>

scripts/monitor

@@ -0,0 +1,44 @@
+#!/usr/bin/env python
+
+import rospy
+from rosgraph_monitor.monitor_manager import MonitorManager, ServiceWrapper
+
+from ros_graph_parser.srv import Scan
+from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus
+
+
+class GraphScanService(ServiceWrapper):
+    def __init__(self):
+        super(GraphScanService, self).__init__('scan_ros_graph', Scan)
+
+    # This function needs to be implemented by every service wrapper
+    # extract diagnostics from response here
+    def diagnostics_from_response(self, resp):
+        # print(resp)
+
+        self.compare_with_model(resp)
+
+        status_msg = DiagnosticStatus()
+        status_msg.level = DiagnosticStatus.OK
+        status_msg.name = "ROS Graph"
+        status_msg.message = "alive"
+
+        return status_msg
+
+    # compare with ros model here
+    def compare_with_model(self, resp):
+        # how to extract the model from the string?
+        pass
+
+
+if __name__ == "__main__":
+    rospy.init_node('graph_monitor')
+    manager = MonitorManager()
+
+    # how can this be read from a YAML file
+    # ideally should have service name and type only
+    graph_service = GraphScanService()
+    manager.register_service(graph_service)
+
+    manager.loop()
+    rospy.spin()

setup.py

@@ -0,0 +1,25 @@
+#!/usr/bin/env python
+#
+# Copyright 2019 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup(
+    packages=['rosgraph_monitor'],
+    package_dir={'': 'src'},
+)
+
+setup(**d)

src/rosgraph_monitor/__init__.py

@@ -0,0 +1,69 @@
+#!/usr/bin/env python
+
+import threading
+import mutex
+import rospy
+from diagnostic_msgs.msg import DiagnosticArray
+
+
+class ServiceWrapper(object):
+    def __init__(self, service_name=None, service_type=None):
+        self.name = service_name
+        self.type = service_type
+        self.client = None
+
+    def generate_diagnostics(self):
+        resp = self.client.call()  # do I need a try catch here?
+        status_msg = self.diagnostics_from_response(resp)
+        return status_msg
+
+    # Every derived class needs to override this
+    def diagnostics_from_response(self, response):
+        msg = DiagnosticArray()
+        return msg
+
+
+class MonitorManager(object):
+    def __init__(self):
+        loop_rate_hz = 1
+        rate = rospy.Rate(loop_rate_hz)
+
+        self._pub_diag = rospy.Publisher(
+            'diagnostics', DiagnosticArray, queue_size=10)
+        self._services = []
+        self._ser_lock = threading.Lock()
+        self._thread = threading.Thread(
+            target=self.call_all, args=(rate,))
+        self._thread.daemon = True
+
+    def register_service(self, service):
+        try:
+            rospy.wait_for_service(service.name, timeout=1.0)
+            service.client = rospy.ServiceProxy(service.name, service.type)
+            self._ser_lock.acquire()
+            self._services.append(service)
+            print("Service '" + service.name +
+                  "' added of type" + str(service.type))
+        except rospy.ServiceException as exc:
+            print("Service did not process request: " + str(exc))
+        finally:
+            self._ser_lock.release()
+
+    def call_all(self, rate):
+        seq = 1
+        while not rospy.is_shutdown():
+            diag_msg = DiagnosticArray()
+            diag_msg.header.stamp = rospy.get_rostime()
+
+            self._ser_lock.acquire()
+            for service in self._services:
+                status_msg = service.generate_diagnostics()
+                diag_msg.status.append(status_msg)
+
+            self._pub_diag.publish(diag_msg)
+            self._ser_lock.release()
+            seq += 1
+            rate.sleep()
+
+    def loop(self):
+        self._thread.start()