Merge pull request #82 from dheera/dev

Support older versions of tornado

rosboard/handlers.py

@@ -5,6 +5,7 @@
 import tornado.web
 import tornado.websocket
 import traceback
+import types
 import uuid
 
 from . import __version__
@@ -16,6 +17,7 @@ def set_extra_headers(self, path):
 
 class ROSBoardSocketHandler(tornado.websocket.WebSocketHandler):
  sockets = set()
+
  def initialize(self, node):
  # store the instance of the ROS node that created this WebSocketHandler so we can access it later
  self.node = node
@@ -32,6 +34,13 @@ def open(self):
 
  self.set_nodelay(True)
 
+ # polyfill of is_closing() method for older versions of tornado
+ if not hasattr(self.ws_connection, "is_closing"):
+ self.ws_connection.is_closing = types.MethodType(
+ lambda self_: self_.stream.closed() or self_.client_terminated or self_.server_terminated,
+ self.ws_connection
+ )
+
  self.update_intervals_by_topic = {} # this socket's throttle rate on each topic
  self.last_data_times_by_topic = {} # last time this socket received data on each topic
 

rosboard/html/js/index.js

@@ -138,7 +138,13 @@ let onTopics = function(topics) {
  $('<a></a>')
  .addClass("mdl-navigation__link")
  .click(() => { initSubscribe({topicName: "_top", topicType: "rosboard_msgs/msg/ProcessList"}); })
- .text("top")
+ .text("Processes")
+ .appendTo($("#topics-nav-system"));
+
+ $('<a></a>')
+ .addClass("mdl-navigation__link")
+ .click(() => { initSubscribe({topicName: "_system_stats", topicType: "rosboard_msgs/msg/SystemStats"}); })
+ .text("System stats")
  .appendTo($("#topics-nav-system"));
 }
 

rosboard/html/js/viewers/GeometryViewer.js

@@ -1,6 +1,6 @@
 "use strict";
 
-class OdometryViewer extends Space2DViewer {
+class GeometryViewer extends Space2DViewer {
  _quatToEuler(q) {
  let euler = {};
 
@@ -132,9 +132,9 @@ class OdometryViewer extends Space2DViewer {
  }
 }
 
-OdometryViewer.friendlyName = "2D view";
+GeometryViewer.friendlyName = "2D view";
 
-OdometryViewer.supportedTypes = [
+GeometryViewer.supportedTypes = [
  "geometry_msgs/msg/Pose",
  "geometry_msgs/msg/PoseStamped",
  "geometry_msgs/msg/PoseWithCovariance",
@@ -145,6 +145,6 @@ OdometryViewer.supportedTypes = [
  "nav_msgs/msg/Odometry",
 ];
 
-OdometryViewer.maxUpdateRate = 10.0;
+GeometryViewer.maxUpdateRate = 10.0;
 
-Viewer.registerViewer(OdometryViewer);
+Viewer.registerViewer(GeometryViewer);

rosboard/rosboard.py

@@ -21,6 +21,7 @@
 from rosboard.serialization import ros2dict
 from rosboard.subscribers.dmesg_subscriber import DMesgSubscriber
 from rosboard.subscribers.processes_subscriber import ProcessesSubscriber
+from rosboard.subscribers.system_stats_subscriber import SystemStatsSubscriber
 from rosboard.subscribers.dummy_subscriber import DummySubscriber
 from rosboard.handlers import ROSBoardSocketHandler, NoCacheStaticFileHandler
 
@@ -181,6 +182,12 @@ def sync_subs(self):
  self.local_subs[topic_name] = DMesgSubscriber(self.on_dmesg)
  continue
 
+ if topic_name == "_system_stats":
+ if topic_name not in self.local_subs:
+ rospy.loginfo("Subscribing to _system_stats [non-ros]")
+ self.local_subs[topic_name] = SystemStatsSubscriber(self.on_system_stats)
+ continue
+
  if topic_name == "_top":
  if topic_name not in self.local_subs:
  rospy.loginfo("Subscribing to _top [non-ros]")
@@ -240,6 +247,29 @@ def sync_subs(self):
 
  self.lock.release()
 
+ def on_system_stats(self, system_stats):
+ """
+ system stats received. send it off to the client as a "fake" ROS message (which could at some point be a real ROS message)
+ """
+ if self.event_loop is None:
+ return
+
+ msg_dict = {
+ "_topic_name": "_system_stats", # special non-ros topics start with _
+ "_topic_type": "rosboard_msgs/msg/SystemStats",
+ }
+
+ for key, value in system_stats.items():
+ msg_dict[key] = value
+
+ self.event_loop.add_callback(
+ ROSBoardSocketHandler.broadcast,
+ [
+ ROSBoardSocketHandler.MSG_MSG,
+ msg_dict
+ ]
+ )
+
  def on_top(self, processes):
  """
  processes list received. send it off to the client as a "fake" ROS message (which could at some point be a real ROS message)

rosboard/subscribers/system_stats_subscriber.py

@@ -1,50 +1,69 @@
 #!/usr/bin/env python3
 
-import psutil
-import select
-import subprocess
+try:
+ import psutil
+except (ImportError, ModuleNotFoundError) as e:
+ psutil = None
+
 import time
 import threading
 import traceback
 
+def mean(list):
+ return sum(list)/len(list)
+
 class SystemStatsSubscriber(object):
  def __init__(self, callback):
  self.callback = callback
- self.process = None
+ self.stop = False
  threading.Thread(target = self.start, daemon = True).start()
 
  def __del__(self):
- if self.process:
- self.process.terminate()
- self.process = None
+ self.stop = True
+ pass
 
  def unregister(self):
- if self.process:
- self.process.terminate()
- self.process = None
+ self.stop = True
+ pass
 
  def start(self):
- try:
- self.process = subprocess.Popen(['dmesg', '--follow'], stdout = subprocess.PIPE)
- p = select.poll()
- p.register(self.process.stdout, select.POLLIN)
-
- while True:
- time.sleep(0.1)
-
- if self.process is None:
- break
+ if psutil is None:
+ self.callback({"_error": "Please install psutil (sudo pip3 install --upgrade psutil) to use this feature."})
+ return
+
+ while not self.stop:
+ try:
+ p = psutil.Process()
+
+ with p.oneshot():
+ sensors_temperatures = psutil.sensors_temperatures()
+ cpu_percent = psutil.cpu_percent(percpu = True)
+ net_io_counters = psutil.net_io_counters()
+ virtual_memory = psutil.virtual_memory()
+ swap_memory = psutil.swap_memory()
+ disk_usage = psutil.disk_usage('/')
+
+ status = {}
+
+ status["cpu_percent"] = cpu_percent
+
+ if "coretemp" in sensors_temperatures:
+ status["temp_coretemp"] = mean(list(map(
+ lambda x:x.current,
+ sensors_temperatures["coretemp"]
+ )))
 
- lines = []
- while p.poll(1):
- lines.append(self.process.stdout.readline().decode('utf-8').strip())
+ status["net_bytes_sent"] = net_io_counters.bytes_sent
+ status["net_bytes_recv"] = net_io_counters.bytes_recv
+ status["disk_usage_percent"] = disk_usage.percent
+ status["virtual_memory_percent"] = virtual_memory.percent
+ status["swap_memory_percent"] = swap_memory.percent
 
- text = "\n".join(lines)
- if len(text) > 0:
- self.callback("\n".join(lines))
- except:
- traceback.print_exc()
+ except Exception as e:
+ traceback.print_exc()
 
+ self.callback(status)
+ time.sleep(3)
 
 if __name__ == "__main__":
  # Run test