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feat: change from node_death_monitor from process_alive_monitor
Signed-off-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>
1 parent 8ef11c7 commit 572427d

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Lines changed: 41 additions & 41 deletions

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‎system/autoware_node_death_monitor/launch/autoware_node_death_monitor.launch.xml‎

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‎system/autoware_process_alive_monitor/CHANGELOG.rst‎

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system/autoware_node_death_monitor/CMakeLists.txt renamed to system/autoware_process_alive_monitor/CMakeLists.txt

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cmake_minimum_required(VERSION 3.14)
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project(autoware_node_death_monitor)
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project(autoware_process_alive_monitor)
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find_package(autoware_cmake REQUIRED)
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autoware_package()
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ament_auto_add_library(${PROJECT_NAME} SHARED
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src/autoware_node_death_monitor.cpp
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src/autoware_process_alive_monitor.cpp
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)
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rclcpp_components_register_node(${PROJECT_NAME}
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PLUGIN "autoware::node_death_monitor::NodeDeathMonitor"
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PLUGIN "autoware::process_alive_monitor::ProcessAliveMonitor"
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EXECUTABLE ${PROJECT_NAME}_node)
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ament_auto_package(INSTALL_TO_SHARE

system/autoware_node_death_monitor/README.md renamed to system/autoware_process_alive_monitor/README.md

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# autoware_node_death_monitor
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# autoware_process_alive_monitor
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This package provides a monitoring node that detects ROS 2 node crashes by analyzing `launch.log` files, rather than subscribing to `/rosout` logs.
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---
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## Overview
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- **Node name**: `autoware_node_death_monitor`
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- **Node name**: `autoware_process_alive_monitor`
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- **Monitored file**: `launch.log`
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- **Detected event**: Looks for lines containing the substring `"process has died"` and extracts the node name and exit code.
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@@ -16,7 +16,7 @@ When a crash or unexpected shutdown occurs, `ros2 launch` typically outputs a li
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[ERROR] [node_name-1]: process has died [pid 12345, exit code 139, cmd '...']
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```
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The `autoware_node_death_monitor` node continuously reads the latest `launch.log` file, detects these messages, and logs a warning or marks the node as "dead."
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The `autoware_process_alive_monitor` node continuously reads the latest `launch.log` file, detects these messages, and logs a warning or marks the node as "dead."
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---
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@@ -48,10 +48,10 @@ The `autoware_node_death_monitor` node continuously reads the latest `launch.log
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| `check_interval` | `double` | `1.0` | Timer interval (seconds) for scanning the log file. |
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| `enable_debug` | `bool` | `false` | Enables debug logging for detailed output. |
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Example **`autoware_node_death_monitor.param.yaml`**:
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Example **`autoware_process_alive_monitor.param.yaml`**:
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```yaml
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autoware_node_death_monitor:
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autoware_process_alive_monitor:
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ros__parameters:
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ignore_node_names:
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- rviz2

system/autoware_node_death_monitor/config/autoware_node_death_monitor.param.yaml renamed to system/autoware_process_alive_monitor/config/autoware_process_alive_monitor.param.yaml

File renamed without changes.

system/autoware_node_death_monitor/include/autoware_node_death_monitor/autoware_node_death_monitor.hpp renamed to system/autoware_process_alive_monitor/include/autoware_process_alive_monitor/autoware_process_alive_monitor.hpp

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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef AUTOWARE_NODE_DEATH_MONITOR__AUTOWARE_NODE_DEATH_MONITOR_HPP_
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#define AUTOWARE_NODE_DEATH_MONITOR__AUTOWARE_NODE_DEATH_MONITOR_HPP_
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#ifndef AUTOWARE_PROCESS_ALIVE_MONITOR__AUTOWARE_PROCESS_ALIVE_MONITOR_HPP_
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#define AUTOWARE_PROCESS_ALIVE_MONITOR__AUTOWARE_PROCESS_ALIVE_MONITOR_HPP_
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#include "rclcpp/rclcpp.hpp"
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#include <unordered_map>
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#include <vector>
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namespace autoware::node_death_monitor
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namespace autoware::process_alive_monitor
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{
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class NodeDeathMonitor : public rclcpp::Node
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class ProcessAliveMonitor : public rclcpp::Node
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{
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public:
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/**
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* @brief Constructor for NodeDeathMonitor
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* @brief Constructor for ProcessAliveMonitor
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* @param options Node options for configuration
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*/
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explicit NodeDeathMonitor(const rclcpp::NodeOptions & options);
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explicit ProcessAliveMonitor(const rclcpp::NodeOptions & options);
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private:
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/**
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bool enable_debug_{false}; // Enable debug output
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};
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} // namespace autoware::node_death_monitor
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} // namespace autoware::process_alive_monitor
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#endif // AUTOWARE_NODE_DEATH_MONITOR__AUTOWARE_NODE_DEATH_MONITOR_HPP_
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#endif // AUTOWARE_PROCESS_ALIVE_MONITOR__AUTOWARE_PROCESS_ALIVE_MONITOR_HPP_

‎system/autoware_process_alive_monitor/launch/autoware_process_alive_monitor.launch.xml‎

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<launch>
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<!-- Parameter -->
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<arg name="config_file" default="$(find-pkg-share autoware_process_alive_monitor)/config/autoware_process_alive_monitor.param.yaml"/>
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<!-- Set log level -->
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<arg name="log_level" default="info"/>
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<node pkg="autoware_process_alive_monitor" exec="autoware_process_alive_monitor_node" name="process_alive_monitor" output="screen" args="--ros-args --log-level $(var log_level)">
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<!-- Parameter -->
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<param from="$(var config_file)"/>
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</node>
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</launch>

system/autoware_node_death_monitor/package.xml renamed to system/autoware_process_alive_monitor/package.xml

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<?xml version="1.0"?>
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<package format="3">
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<name>autoware_node_death_monitor</name>
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<name>autoware_process_alive_monitor</name>
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<version>0.0.1</version>
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<description>The node_death_monitor package</description>
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<description>The process_alive_monitor package</description>
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<maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
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<license>Apache License 2.0</license>

system/autoware_node_death_monitor/src/autoware_node_death_monitor.cpp renamed to system/autoware_process_alive_monitor/src/autoware_process_alive_monitor.cpp

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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "autoware_node_death_monitor/autoware_node_death_monitor.hpp"
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#include "autoware_process_alive_monitor/autoware_process_alive_monitor.hpp"
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#include <filesystem>
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#include <fstream>
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namespace fs = std::filesystem;
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namespace autoware::node_death_monitor
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namespace autoware::process_alive_monitor
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{
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/**
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return fs::path();
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}
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NodeDeathMonitor::NodeDeathMonitor(const rclcpp::NodeOptions & options)
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: Node("autoware_node_death_monitor", options)
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ProcessAliveMonitor::ProcessAliveMonitor(const rclcpp::NodeOptions & options)
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: Node("autoware_process_alive_monitor", options)
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{
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ignore_node_names_ =
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declare_parameter<std::vector<std::string>>("ignore_node_names", std::vector<std::string>{});
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auto interval_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(
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std::chrono::duration<double>(check_interval_));
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timer_ = create_wall_timer(interval_ns, std::bind(&NodeDeathMonitor::on_timer, this));
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timer_ = create_wall_timer(interval_ns, std::bind(&ProcessAliveMonitor::on_timer, this));
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}
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void NodeDeathMonitor::read_launch_log_diff()
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void ProcessAliveMonitor::read_launch_log_diff()
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{
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if (launch_log_path_.empty()) {
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return;
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std::streampos last_valid_pos = static_cast<std::streampos>(last_file_pos_);
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size_t iteration = 0;
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while (true) {
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while (rclcpp::ok) {
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// Check current position
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std::streampos current_pos_start = ifs.tellg();
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if (current_pos_start == std::streampos(-1)) {
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}
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}
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void NodeDeathMonitor::parse_log_line(const std::string & line)
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void ProcessAliveMonitor::parse_log_line(const std::string & line)
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{
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const std::string target_str = "process has died";
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if (line.find(target_str) == std::string::npos) {
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}
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}
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void NodeDeathMonitor::on_timer()
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void ProcessAliveMonitor::on_timer()
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{
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read_launch_log_diff();
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}
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}
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} // namespace autoware::node_death_monitor
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} // namespace autoware::process_alive_monitor
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#include <rclcpp_components/register_node_macro.hpp>
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RCLCPP_COMPONENTS_REGISTER_NODE(autoware::node_death_monitor::NodeDeathMonitor)
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RCLCPP_COMPONENTS_REGISTER_NODE(autoware::process_alive_monitor::ProcessAliveMonitor)

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