Add error percentage to cpu and ram monitor

diagnostic_common_diagnostics/README.md

@@ -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.
   * window: the maximum length of the used collections.deque for queuing CPU readings.
 
 ### Published Topics
@@ -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

diagnostic_common_diagnostics/diagnostic_common_diagnostics/cpu_monitor.py

@@ -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):
         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):
@@ -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:
             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')
@@ -100,16 +101,20 @@ def main(args=None):
 
     # Declare and get parameters
     node.declare_parameter('warning_percentage', 90)
+    node.declare_parameter('error_percentage', 100)
     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)
 

diagnostic_common_diagnostics/diagnostic_common_diagnostics/ram_monitor.py

@@ -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):
@@ -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',
@@ -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,
         )
     )

diagnostic_common_diagnostics/test/systemtest/test_cpu_monitor.py

@@ -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)