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Add error percentage to cpu and ram monitor #548

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32d4397
add error percentage to cpu and ram monitor
sangteak601 Dec 17, 2025
f20f0ca
fix doc
sangteak601 Dec 17, 2025
d42401c
fix format
sangteak601 Dec 17, 2025
fe701e9
fix test
sangteak601 Dec 17, 2025
374e5ac
revert each cpu load stat
sangteak601 Dec 17, 2025
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2 changes: 2 additions & 0 deletions diagnostic_common_diagnostics/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@ It publishes the usage percentage in a diagnostic message.
* Name of the node is "cpu_monitor_" + hostname.
* Uses the following args:
* warning_percentage: If the CPU usage is > warning_percentage, a WARN status will be publised.
* error_percentage: If the CPU usage is > error_percentage, an ERROR status will be published.
Comment on lines 16 to +17
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@ct2034 ct2034 Mar 30, 2026

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please also make the this more precise in terms of average vs single cpu

* window: the maximum length of the used collections.deque for queuing CPU readings.

### Published Topics
Expand Down Expand Up @@ -97,6 +98,7 @@ It publishes the usage percentage in a diagnostic message.
* Name of the node is "ram_monitor_" + hostname.
* Uses the following args:
* warning_percentage: If the RAM usage is > warning_percentage, a WARN status will be published.
* error_percentage: If the RAM usage is > error_percentage, an ERROR status will be published.
* window: the maximum length of the used collections.deque for queuing RAM readings.

### Published Topics
Expand Down
19 changes: 12 additions & 7 deletions diagnostic_common_diagnostics/diagnostic_common_diagnostics/cpu_monitor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -51,10 +51,11 @@

class CpuTask(DiagnosticTask):

def __init__(self, warning_percentage=90, window=1):
def __init__(self, warning_percentage=90, error_percentage=100, window=1):
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@ct2034 ct2034 Mar 30, 2026

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Suggested change
def __init__(self, warning_percentage=90, error_percentage=100, window=1):
def __init__(self, warning_percentage, error_percentage, window):

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@ct2034 ct2034 Mar 30, 2026

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this way its closer to the ram implementation and there are not too many place where defaults are set.

DiagnosticTask.__init__(self, 'CPU Information')

self._warning_percentage = int(warning_percentage)
self._error_percentage = int(error_percentage)
self._readings = deque(maxlen=window)

def _get_average_reading(self):
Expand All @@ -71,15 +72,15 @@ def run(self, stat):

stat.add('CPU Load Average', f'{cpu_average:.2f}')

warn = False
for idx, cpu_percentage in enumerate(cpu_percentages):
stat.add(f'CPU {idx} Load', f'{cpu_percentage:.2f}')
if cpu_percentage > self._warning_percentage:
warn = True

if warn:
if cpu_average > self._error_percentage:
stat.summary(DiagnosticStatus.ERROR,
f'CPU Average exceeds {self._error_percentage} percent')
elif cpu_average > self._warning_percentage:
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@ct2034 ct2034 Mar 30, 2026

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This changes the behavior, because previously this warning was done per individual cpu. This is not bad per se. But the default behaviour should stay as it was previously

stat.summary(DiagnosticStatus.WARN,
f'At least one CPU exceeds {self._warning_percentage} percent')
f'CPU Average exceeds {self._warning_percentage} percent')
else:
stat.summary(DiagnosticStatus.OK,
f'CPU Average {cpu_average:.2f} percent')
Expand All @@ -100,16 +101,20 @@ def main(args=None):

# Declare and get parameters
node.declare_parameter('warning_percentage', 90)
node.declare_parameter('error_percentage', 100)
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@ct2034 ct2034 Mar 30, 2026

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100 is a weird default value. I suggest 95

node.declare_parameter('window', 1)

warning_percentage = node.get_parameter(
'warning_percentage').get_parameter_value().integer_value
error_percentage = node.get_parameter(
'error_percentage').get_parameter_value().integer_value
window = node.get_parameter('window').get_parameter_value().integer_value

# Create diagnostic updater with default updater rate of 1 hz
updater = Updater(node)
updater.setHardwareID(hostname)
updater.add(CpuTask(warning_percentage=warning_percentage, window=window))
updater.add(CpuTask(warning_percentage=warning_percentage, error_percentage=error_percentage,
window=window))

rclpy.spin(node)

Expand Down
Empty file added diagnostic_common_diagnostics/diagnostic_common_diagnostics/param_decl.yaml
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Empty file.
11 changes: 9 additions & 2 deletions diagnostic_common_diagnostics/diagnostic_common_diagnostics/ram_monitor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -48,9 +48,10 @@

class RamTask(DiagnosticTask):

def __init__(self, warning_percentage, window):
def __init__(self, warning_percentage, error_percentage, window):
DiagnosticTask.__init__(self, 'RAM Information')
self._warning_percentage = int(warning_percentage)
self._error_percentage = int(error_percentage)
self._readings = collections.deque(maxlen=window)

def run(self, stat):
Expand All @@ -59,7 +60,12 @@ def run(self, stat):

stat.add('RAM Load Average', f'{ram_average:.2f}')

if ram_average > self._warning_percentage:
if ram_average > self._error_percentage:
stat.summary(
DiagnosticStatus.ERROR,
f'RAM Average exceeds {self._error_percentage:d} percent',
)
elif ram_average > self._warning_percentage:
stat.summary(
DiagnosticStatus.WARN,
f'RAM Average exceeds {self._warning_percentage:d} percent',
Expand All @@ -84,6 +90,7 @@ def main():
updater.add(
RamTask(
node.declare_parameter('warning_percentage', 90).value,
node.declare_parameter('error_percentage', 100).value,
node.declare_parameter('window', 1).value,
)
)
Expand Down
2 changes: 1 addition & 1 deletion diagnostic_common_diagnostics/test/systemtest/test_cpu_monitor.py
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Expand Up @@ -85,7 +85,7 @@ def test_warn(self):
print(f'Raw readings: {task._readings}')
self.assertEqual(task.name, 'CPU Information')
self.assertEqual(stat.level, DiagnosticStatus.WARN)
self.assertIn(str('At least one CPU exceeds'), stat.message)
self.assertIn(str('CPU Average exceeds'), stat.message)

# Check for at least 1 CPU Load Average and 1 CPU Load
self.assertGreaterEqual(len(stat.values), 2)
Expand Down