Feature/gpu system monitor

bitbots_misc/system_monitor/config/config.yaml

@@ -5,11 +5,13 @@ system_monitor:
 
     # These settings are quick_switches to completely disable certain parts of statistic collection
     do_cpu: true
+    do_gpu: true
     do_memory: true
     do_network: false
 
     # these are the threshold values at which we start going into a warn state
     cpu_load_percentage: 80.0
+    gpu_load_percentage: 95.0
     memory_load_percentage: 80.0
     network_rate_received_errors: 10.0
     network_rate_send_errors: 10.0

bitbots_misc/system_monitor/system_monitor/gpu.py

@@ -0,0 +1,14 @@
+import pyamdgpuinfo
+
+
+def collect_all():
+    if pyamdgpuinfo.detect_gpus() == 0:
+        return 0
+
+    gpu = pyamdgpuinfo.get_gpu(0)
+    load = round(gpu.query_load() * 100, 2)
+    vram_total = gpu.memory_info["vram_size"]
+    vram_used = gpu.query_vram_usage()
+    temperature = int(gpu.query_temperature())
+
+    return (load, vram_used, vram_total, temperature)

bitbots_misc/system_monitor/system_monitor/monitor.py

@@ -7,7 +7,7 @@
 from rclpy.node import Node
 
 from bitbots_msgs.msg import Workload as WorkloadMsg
-from system_monitor import cpus, memory, network_interfaces
+from system_monitor import cpus, gpu, memory, network_interfaces
 
 
 def main():
@@ -23,31 +23,39 @@ def main():
     # start all names with "SYSTEM" for diagnostic analyzer
     diag_cpu.name = "SYSTEMCPU"
     diag_cpu.hardware_id = "CPU"
+    diag_gpu = DiagnosticStatus()
+    diag_gpu.name = "SYSTEMGPU"
+    diag_gpu.hardware_id = "GPU"
     diag_mem = DiagnosticStatus()
     diag_mem.name = "SYSTEMMemory"
     diag_mem.hardware_id = "Memory"
 
     node.declare_parameter("update_frequency", 10.0)
-    node.declare_parameter("do_memory", True)
     node.declare_parameter("do_cpu", True)
+    node.declare_parameter("do_gpu", True)
+    node.declare_parameter("do_memory", True)
     node.declare_parameter("do_network", True)
     node.declare_parameter("cpu_load_percentage", 80.0)
+    node.declare_parameter("gpu_load_percentage", 80.0)
     node.declare_parameter("memory_load_percentage", 80.0)
     node.declare_parameter("network_rate_received_errors", 10.0)
     node.declare_parameter("network_rate_send_errors", 10.0)
 
     rate = node.get_parameter("update_frequency").get_parameter_value().double_value
-    do_memory = node.get_parameter("do_memory").get_parameter_value().bool_value
     do_cpu = node.get_parameter("do_cpu").get_parameter_value().bool_value
+    do_gpu = node.get_parameter("do_gpu").get_parameter_value().bool_value
+    do_memory = node.get_parameter("do_memory").get_parameter_value().bool_value
     do_network = node.get_parameter("do_network").get_parameter_value().bool_value
     cpu_load_percentage = node.get_parameter("cpu_load_percentage").get_parameter_value().double_value
+    gpu_load_percentage = node.get_parameter("gpu_load_percentage").get_parameter_value().double_value
     memory_load_percentage = node.get_parameter("memory_load_percentage").get_parameter_value().double_value
     network_rate_received_errors = node.get_parameter("network_rate_received_errors").get_parameter_value().double_value
     network_rate_send_errors = node.get_parameter("network_rate_send_errors").get_parameter_value().double_value
 
     while rclpy.ok():
         last_send_time = time.time()
         running_processes, cpu_usages, overall_usage_percentage = cpus.collect_all() if do_cpu else (-1, [], 0)
+        gpu_load, gpu_vram_used, gpu_vram_total, gpu_temperature = gpu.collect_all() if do_gpu else 0
         memory_available, memory_used, memory_total = memory.collect_all() if do_memory else (-1, -1, -1)
         interfaces = network_interfaces.collect_all(node.get_clock()) if do_network else []
 
@@ -56,6 +64,10 @@ def main():
             cpus=cpu_usages,
             running_processes=running_processes,
             cpu_usage_overall=overall_usage_percentage,
+            gpu_load=gpu_load,
+            gpu_vram_used=gpu_vram_used,
+            gpu_vram_total=gpu_vram_total,
+            gpu_temperature=gpu_temperature,
             memory_available=memory_available,
             memory_used=memory_used,
             memory_total=memory_total,
@@ -73,6 +85,13 @@ def main():
             diag_cpu.level = DiagnosticStatus.OK
         diag_array.status.append(diag_cpu)
 
+        diag_gpu.message = str(gpu_load) + "%"
+        if gpu_load >= gpu_load_percentage:
+            diag_gpu.level = DiagnosticStatus.WARN
+        else:
+            diag_gpu.level = DiagnosticStatus.OK
+        diag_array.status.append(diag_gpu)
+
         memory_usage = round((memory_used / memory_total) * 100, 2)
         diag_mem.message = str(memory_usage) + "%"
         if memory_usage >= memory_load_percentage:

bitbots_msgs/msg/Workload.msg

@@ -4,6 +4,11 @@ Cpu[] cpus
 int32 running_processes
 float32 cpu_usage_overall
 
+float32 gpu_load
+int64 gpu_vram_used
+int64 gpu_vram_total
+int32 gpu_temperature
+
 int64 memory_available
 int64 memory_used
 int64 memory_total

requirements/robot.txt

@@ -4,3 +4,4 @@ mycroft-mimic3-tts
 protobuf==3.20.3 # Required for mycroft-mimic3-tts, but we want to enshure that the version is compatible binaries build using the system version, but it should also be compatiple with all the python dependencies
 pyttsx3
 playsound
+pyamdgpuinfo