initial commit

ov_eval/python/pid_sys.py

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+#!/usr/bin/env python
+
+# OpenVINS: An Open Platform for Visual-Inertial Research
+# Copyright (C) 2019 Patrick Geneva
+# Copyright (C) 2019 OpenVINS Contributors
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+
+import os
+import psutil
+import rospy
+import sys
+
+
+def get_process_name(process_name, doprint=False):
+    # try to get the process using psutil
+    # https://stackoverflow.com/a/2241047/7718197
+    processes = []
+    for proc in psutil.process_iter():
+        name, exe, cmdline = "", "", []
+        try:
+            name = proc.name()
+            cmdline = proc.cmdline()
+            exe = proc.exe()
+        except (psutil.AccessDenied, psutil.ZombieProcess):
+            pass
+        except psutil.NoSuchProcess:
+            continue
+        if name == process_name or cmdline[0] == process_name or os.path.basename(exe) == process_name:
+            if doprint:
+                rospy.loginfo("adding new node monitor (pid %d)" % (proc.pid))
+            processes.append(proc)
+    # if we have a process, then success
+    if len(processes) > 0:
+        return processes
+    # else we have failed!
+    rospy.logerr("unable to find process for %s" % (process_name))
+    return False
+
+
+if __name__ == '__main__':
+
+    # initialize this ros node
+    rospy.init_node("pid_sys")
+
+    # check if we have our params
+    if len(sys.argv) < 2:
+        rospy.logerr("please specify process name")
+        rospy.logerr("python pid_sys.py <command-name>")
+        sys.exit(-1)
+
+    # load our process, keep trying until we connect to it
+    processes = False
+    rate = rospy.Rate(2)
+    while processes == False and not rospy.is_shutdown():
+        processes = get_process_name(sys.argv[1], True)
+
+    # exit if we should end
+    if rospy.is_shutdown():
+        sys.exit(-1)
+
+    # now lets loop and get the stats for these processes
+    while not rospy.is_shutdown():
+
+        # summed over all the pid for this process
+        sum_perc_cpu = 0.0
+        sum_perc_mem = 0.0
+        sum_threads = 0
+        for p in processes:
+            try:
+                perc_cpu = p.cpu_percent(interval=None)
+                perc_mem = p.memory_percent()
+                threads = p.num_threads()
+            except:
+                continue
+            sum_perc_cpu += perc_cpu
+            sum_perc_mem += perc_mem
+            sum_threads += threads
+
+        # print what the total summed value is
+        print("cpu percent = %.3f" % sum_perc_cpu)
+        print("mem percent = %.3f" % sum_perc_mem)
+        print("num threads = %d" % sum_threads)
+        processes = False
+
+        # try to get the process again, this allows us to handle
+        # the spawning of new threads or removing of threads that have finished
+        while processes == False and not rospy.is_shutdown():
+            processes = get_process_name(sys.argv[1])
+            if not processes == False:
+                for p in processes:
+                    p.cpu_percent(interval=None)
+            rate.sleep()