From 32a1cebcd2e37a63edc436de8643eb76b851e092 Mon Sep 17 00:00:00 2001 From: Jacob Peddicord Date: Thu, 25 Oct 2018 15:05:10 -0700 Subject: [PATCH] Initial commit --- .github/PULL_REQUEST_TEMPLATE.md | 6 + .travis.yml | 4 + README.md | 160 +++++++++++++ cloudwatch_logger/CMakeLists.txt | 43 ++++ cloudwatch_logger/LICENSE.txt | 202 ++++++++++++++++ cloudwatch_logger/NOTICE.txt | 4 + .../config/sample_configuration.yaml | 46 ++++ .../include/cloudwatch_logger/log_node.h | 80 +++++++ .../launch/cloudwatch_logger.launch | 11 + .../launch/sample_application.launch | 13 + cloudwatch_logger/package.xml | 30 +++ cloudwatch_logger/src/log_client.cpp | 225 ++++++++++++++++++ cloudwatch_logger/src/log_node.cpp | 107 +++++++++ wiki/images/cpu.svg | 4 + wiki/images/memory.svg | 4 + 15 files changed, 939 insertions(+) create mode 100644 .github/PULL_REQUEST_TEMPLATE.md create mode 100644 .travis.yml create mode 100644 README.md create mode 100644 cloudwatch_logger/CMakeLists.txt create mode 100644 cloudwatch_logger/LICENSE.txt create mode 100644 cloudwatch_logger/NOTICE.txt create mode 100644 cloudwatch_logger/config/sample_configuration.yaml create mode 100644 cloudwatch_logger/include/cloudwatch_logger/log_node.h create mode 100644 cloudwatch_logger/launch/cloudwatch_logger.launch create mode 100644 cloudwatch_logger/launch/sample_application.launch create mode 100644 cloudwatch_logger/package.xml create mode 100644 cloudwatch_logger/src/log_client.cpp create mode 100644 cloudwatch_logger/src/log_node.cpp create mode 100644 wiki/images/cpu.svg create mode 100644 wiki/images/memory.svg diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md new file mode 100644 index 0000000..ab40d21 --- /dev/null +++ b/.github/PULL_REQUEST_TEMPLATE.md @@ -0,0 +1,6 @@ +*Issue #, if available:* + +*Description of changes:* + + +By submitting this pull request, I confirm that my contribution is made under the terms of the Apache 2.0 license. diff --git a/.travis.yml b/.travis.yml new file mode 100644 index 0000000..c8fc43a --- /dev/null +++ b/.travis.yml @@ -0,0 +1,4 @@ +install: + - git clone https://github.com/ros-industrial/industrial_ci.git .ros_ci +script: + - .ros_ci/travis.sh diff --git a/README.md b/README.md new file mode 100644 index 0000000..256f488 --- /dev/null +++ b/README.md @@ -0,0 +1,160 @@ +# cloudwatch_logger + + +## Overview +The **`cloudwatch_logger`** node enables logs generated in a ROS system to get sent to AWS CloudWatch Logs. Out of the box, this node provides the ability to subscribe to the **`/rosout_agg`** (rosout aggregated) topic, which all logs using the ROS logging framework will be published to, and sends logs to the AWS CloudWatch Logs service. Logs can be sent to AWS CloudWatch Logs selectively based on log severity. The **`cloudwatch_logger`** node can also subscribe to other topics if logs are not sent to **`/rosout_agg`**, and it is able to unsubscribe to the rosout_agg topic for getting logs. + +The **`cloudwatch_logger`** node wraps the [aws-sdk-c++] in a ROS service API. + +**Amazon CloudWatch Logs Summary**: AWS CloudWatch Logs can monitor applications and systems using log data. You can create alarms in CloudWatch and receive notifications of particular API activity as captured by CloudTrail and use the notification to perform troubleshooting. By default, logs are kept indefinitely and never expire. You can adjust the retention policy for each log group, keeping the indefinite retention, or choosing a retention periods between 10 years and one day. AWS CloudWatch Logs stores your log data in highly durable storage. + +**Features in Active Development**: +- Offline caching: now, a batch of logs will be dropped if the node fails to send them to AWS CloudWatch Logs. We will enable offline caching and try to save logs. +- Send logs to different log groups/streams: now, one node will send logs to one log stream within one log group. We will enable a node to send logs to different log groups/streams. + +**Keywords**: ROS Application logs, System logs, AWS CloudWatch Logs service + +### License +The source code is released under an [Apache 2.0]. + +**Author**: AWS RoboMaker
+**Affiliation**: [Amazon Web Services (AWS)]
+**Maintainer**: AWS RoboMaker, ros-contributions@amazon.com + +### Supported ROS Distributions +- Kinetic +- Lunar +- Melodic + +## Installation + +### AWS Credentials +You will need to create an AWS Account and configure the credentials to be able to communicate with AWS services. You may find [AWS Configuration and Credential Files] helpful. + +This node will require the following AWS account IAM role permissions: +- `logs:PutLogEvents` +- `logs:DescribeLogStreams` +- `logs:CreateLogStream` +- `logs:CreateLogGroup` + +### Building from Source +Create a ROS workspace and a source directory + + mkdir -p ~/ros-workspace/src + +To build from source, clone the latest version from master branch and compile the package. + +- Clone the package into the source directory + + cd ~/ros-workspace/src + git clone https://github.com/aws-robotics/utils-common.git + git clone https://github.com/aws-robotics/utils-ros1.git + git clone https://github.com/aws-robotics/monitoringmessages-ros1.git + git clone https://github.com/aws-robotics/cloudwatch-common.git + git clone https://github.com/aws-robotics/cloudwatchlogs-ros1.git + +- Install dependencies + + cd ~/ros-workspace && sudo apt-get update + rosdep install --from-paths src --ignore-src -r -y + +- Build the packages + + cd ~/ros-workspace && colcon build + +- Configure ROS library Path + + source ~/ros-workspace/install/setup.bash + +- Build and run the unit tests + + colcon test --packages-select cloudwatch_logs_common && colcon test-result --all + + +## Launch Files +An example launch file called `sample_application.launch` is provided. + + +## Usage + +### Run the node +- **With** launch file using parameters in .yaml format (example provided) + - ROS: `roslaunch cloudwatch_logger sample_application.launch` + +- **Without** launch file using default values + - ROS: `rosrun cloudwatch_logger cloudwatch_logger` + +### Send a test log message +- `rostopic pub -1 /rosout rosgraph_msgs/Log '{header: auto, level: 2, name: test_log, msg: test_cloudwatch_logger, function: test_logs, line: 1}'` + +### Verify that the test log message was successfully sent to CloudWatch Logs +- Go to your AWS account +- Find CloudWatch and click into CloudWatch +- On the upper right corner, change region to `Oregon` if you launched the node using the launch file, or change to `N. Virginia` if you launched the node without using the launch file +- Select `Logs` from the left-hand side menu +- **With** launch file: The name of the log group should be `robot_application_name` and the log stream should be `device name` +- **Without** launch file: The name of the log group should be `ros_log_group` and the log stream should be `ros_log_stream` + + +## Configuration File and Parameters +An example configuration file called `sample_configuration.yaml` is provided. When the parameters are absent in the ROS parameter server, default values are used, thus all parameters are optional. See table below for details. + +| Parameter Name | Description | Type | Allowed Values | +| -------------- | ----------- | ---- | -------------- | +| sub_to_rosout | Whether to subscribe to *rosout_agg* topic | *bool* | true/false | +| publish_frequency | Log publishing frequency in seconds | *double* | number | +| log_group_name | AWS CloudWatch log group name | *std::string* | 'string'
*note*: Log group names must be unique within a region foran AWS account | +| log_stream_name | AWS CloudWatch log stream name | *std::string* | 'string'
*note*: The : (colon) and * (asterisk) characters are not allowed | +| topics | A list of topics to get logs from (excluding `rosout_agg`) | *std::vector* | ['string', 'string', 'string'] | +| min_log_severity| The minimum log severity for sending logs selectively to AWS CloudWatch Logs | *std::string* | DEBUG/INFO/WARN/ERROR/FATAL | +| aws_client_configuration | AWS region configuration | *std::string* | *region*: "us-west-2"/"us-east-1"/"us-east-2"/etc. | + + +## Performance and Benchmark Results +We evaluated the performance of this node by runnning the followning scenario on a Raspberry Pi 3 Model B: +- Launch a baseline graph containing the talker and listener nodes from the [roscpp_tutorials package](https://wiki.ros.org/roscpp_tutorials), plus two additional nodes that collect CPU and memory usage statistics. Allow the nodes to run for 60 seconds. +- Launch the Amazon CloudWatch Logs node using the launch file `example.launch` as described above. Allow the nodes to run for 180 seconds. +- Terminate the Amazon CloudWatch Logs node, and allow the remaining nodes to run for 60 seconds. + +The following graph shows the CPU usage during that scenario. The 1 minute average CPU usage starts at 9.25% during the launch of the baseline graph, and stabilizes at 4.5%. When we launch the `cloudwatch_logger` node around second 60 the 1 minute average CPU increases up to a peak of 9.5%. After that initial peak, the CPU lowers to around 5% while the `cloudwatch_logger` node keeps sending the messages sent by the talker node to the AWS CloudWatch Logs service. + +![cpu](wiki/images/cpu.svg) + +The following graph shows the memory usage during that scenario. We start with a memory usage of 368 MB that increases to a peak of 412 MB (+11.96%) when the `cloudwatch_logger` node starts running, and stabilizes to 394 (+7%) while the node keeps running. The memory usage goes back to 368 MB after stopping the node. + +![memory](wiki/images/memory.svg) + + +## Node + +### cloudwatch_logger +Send logs in a ROS system to AWS CloudWatch Logs service. + +#### Subscribed Topics +- **`/rosout_agg`** + + By default in ROS, all logs from applications using ROS standard logging framework are sent to *rosout_agg* topic. The *cloudwatch_logger* subscribes to *rosout_agg* by default. + +- **`/other_topics`** + + The *cloudwatch_logger* subscribes to other topics if the parameter server has the topic names in *cloudwatch_logger* namespace. + +#### Published Topics +None + +#### Services +None + + +## Bugs & Feature Requests +Please contact the team directly if you would like to request a feature. + +Please report bugs in [Issue Tracker]. + + +[Amazon Web Services (AWS)]: https://aws.amazon.com/ +[Apache 2.0]: https://aws.amazon.com/apache-2-0/ +[AWS Configuration and Credential Files]: https://docs.aws.amazon.com/cli/latest/userguide/cli-config-files.html +[aws-sdk-c++]: https://github.com/aws/aws-sdk-cpp +[Issue Tracker]: https://github.com/aws-robotics/cloudwatchlogs-ros1/issues +[ROS]: http://www.ros.org diff --git a/cloudwatch_logger/CMakeLists.txt b/cloudwatch_logger/CMakeLists.txt new file mode 100644 index 0000000..beb4b67 --- /dev/null +++ b/cloudwatch_logger/CMakeLists.txt @@ -0,0 +1,43 @@ +cmake_minimum_required(VERSION 2.8.3) +project(cloudwatch_logger) + +## Compile as C++11, supported in ROS Kinetic and newer +add_compile_options(-std=c++11) + +## Find catkin macros and libraries +find_package(catkin REQUIRED COMPONENTS + cloudwatch_logs_common + roscpp + aws_common + aws_ros1_common + rosgraph_msgs) + +################################### +## catkin specific configuration ## +################################### + +catkin_package() + +########### +## Build ## +########### + +## Specify additional locations of header files +include_directories(include ${catkin_INCLUDE_DIRS}) + +## Declare a C++ executable +add_executable(cloudwatch_logger src/log_client.cpp src/log_node.cpp) + +## Specify libraries to link a library or executable target against +target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES}) + +############# +## Install ## +############# +install(TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + +install(DIRECTORY config launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/cloudwatch_logger/LICENSE.txt b/cloudwatch_logger/LICENSE.txt new file mode 100644 index 0000000..d8a44c5 --- /dev/null +++ b/cloudwatch_logger/LICENSE.txt @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright 2018 Amazon.com, Inc. or its affiliates + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/cloudwatch_logger/NOTICE.txt b/cloudwatch_logger/NOTICE.txt new file mode 100644 index 0000000..13033fe --- /dev/null +++ b/cloudwatch_logger/NOTICE.txt @@ -0,0 +1,4 @@ +Copyright 2018 Amazon.com, Inc. or its affiliates. All Rights Reserved. + +This product includes software developed by +Amazon Technologies, Inc (http://www.amazon.com/). diff --git a/cloudwatch_logger/config/sample_configuration.yaml b/cloudwatch_logger/config/sample_configuration.yaml new file mode 100644 index 0000000..72176f8 --- /dev/null +++ b/cloudwatch_logger/config/sample_configuration.yaml @@ -0,0 +1,46 @@ +# name of the log group to use. If it doesn't exist, will try to create it first +# default value is: ros_log_group +log_group_name: robot_application_name + +# name of the log stream to send logs to. If it doesn't exist, will try to create it first +# default value is: ros_log_stream +log_stream_name: device_name + +# the frequency to send a batch of logs to CloudWatch Logs in the log group and log stream specified +# e.g. publish a batch of logs every 6 seconds +# publish_frequency: 6.0 +# default value is: 5.0 seconds +publish_frequency: 5.0 + +# whether to subscribe to the rosout_agg topic to get logs +# default value is: true +sub_to_rosout: true + +# other topics to subscribe to get logs +# e.g. subscribe to two topics, one is named topic1, the other is named topic2 +# topics: ['topic1', 'topic2'] +# default value is: empty list +topics: [] + +# send logs to CloudWatch Logs based on log verbosity level +# allowed values are: DEBUG, INFO, WARN, ERROR, FATAL +# e.g. INFO level logs AND logs of log levels above(WARN, ERROR, FATAL) get sent to CloudWatch Logs +# min_log_verbosity: INFO +# default value is: DEBUG == logs of all log verbosity levels get sent to CloudWatch Logs +min_log_verbosity: DEBUG + +# This is the AWS Client Configuration used by the AWS service client in the Node. If given the node will load the +# provided configuration when initializing the client. +aws_client_configuration: + # in an aws account, you can switch to a different region using the drop-down on the upper right corner + # logs sent to CloudWatch Logs will appear in the region indicated below + # default value is: "us-west-2" + region: "us-west-2" + + # Values that determine the length of time, in milliseconds, to wait before timing out a request. You can increase + # this value if you need to transfer large files, such as in Amazon S3 or Amazon CloudFront. + connect_timeout_ms: 9000 + request_timeout_ms: 9000 + + # The number of retries for connecting to AWS Services + max_retries: 10 \ No newline at end of file diff --git a/cloudwatch_logger/include/cloudwatch_logger/log_node.h b/cloudwatch_logger/include/cloudwatch_logger/log_node.h new file mode 100644 index 0000000..d59bdcd --- /dev/null +++ b/cloudwatch_logger/include/cloudwatch_logger/log_node.h @@ -0,0 +1,80 @@ +/* + * Copyright 2018 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"). + * You may not use this file except in compliance with the License. + * A copy of the License is located at + * + * http://aws.amazon.com/apache2.0 + * + * or in the "license" file accompanying this file. This file is distributed + * on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either + * express or implied. See the License for the specific language governing + * permissions and limitations under the License. + */ + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace Aws { +namespace CloudWatchLogs { +namespace Utils { + +class LogNode +{ +public: + /** + * @brief Creates a new CloudWatchLogNode + * + * @param min_log_severity the minimum log severity level defined in the configuration file + * logs with severity level equal or above get sent to CloudWatch Logs + */ + explicit LogNode(int8_t min_log_severity); + + /** + * @brief Tears down a AWSCloudWatchLogNode object + */ + ~LogNode(); + + /** + * @brief Reads creds, region, and SDK option to configure log manager + * + * @param log_group log group name + * @param log_stream log stream name + * @param config aws client configuration object + * @param sdk_options aws sdk options + */ + void Initialize(const std::string & log_group, const std::string & log_stream, + Aws::Client::ClientConfiguration & config, Aws::SDKOptions & sdk_options); + + /** + * @brief Emits RecordLog using the log manager + * + * @param log_msg A log message from the subscribed topic(s) + */ + void RecordLogs(const rosgraph_msgs::Log::ConstPtr & log_msg); + + /** + * @brief Trigger the log manager to call its Service function to publish logs to cloudwatch + * periodically + * + * @param timer A ros timer + */ + void TriggerLogPublisher(const ros::TimerEvent &); + +private: + bool ShouldSendToCloudWatchLogs(const int8_t log_severity_level); + const std::string FormatLogs(const rosgraph_msgs::Log::ConstPtr & log_msg); + std::shared_ptr log_manager_; + int8_t min_log_severity_; +}; + +} // namespace Utils +} // namespace CloudWatchLogs +} // namespace Aws diff --git a/cloudwatch_logger/launch/cloudwatch_logger.launch b/cloudwatch_logger/launch/cloudwatch_logger.launch new file mode 100644 index 0000000..e8651ff --- /dev/null +++ b/cloudwatch_logger/launch/cloudwatch_logger.launch @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/cloudwatch_logger/launch/sample_application.launch b/cloudwatch_logger/launch/sample_application.launch new file mode 100644 index 0000000..48616b8 --- /dev/null +++ b/cloudwatch_logger/launch/sample_application.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + diff --git a/cloudwatch_logger/package.xml b/cloudwatch_logger/package.xml new file mode 100644 index 0000000..8834241 --- /dev/null +++ b/cloudwatch_logger/package.xml @@ -0,0 +1,30 @@ + + + cloudwatch_logger + 1.0.0 + CloudWatch Logger node for publishing logs to AWS CloudWatch Logs + + http://wiki.ros.org/cloudwatch_logger + + AWS RoboMaker + AWS RoboMaker + + Apache 2.0 + + catkin + + cloudwatch_logs_common + aws_common + aws_ros1_common + roscpp + + cloudwatch_logs_common + aws_common + aws_ros1_common + roscpp + + cloudwatch_logs_common + aws_common + aws_ros1_common + roscpp + diff --git a/cloudwatch_logger/src/log_client.cpp b/cloudwatch_logger/src/log_client.cpp new file mode 100644 index 0000000..2c17c66 --- /dev/null +++ b/cloudwatch_logger/src/log_client.cpp @@ -0,0 +1,225 @@ +/* + * Copyright 2018 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"). + * You may not use this file except in compliance with the License. + * A copy of the License is located at + * + * http://aws.amazon.com/apache2.0 + * + * or in the "license" file accompanying this file. This file is distributed + * on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either + * express or implied. See the License for the specific language governing + * permissions and limitations under the License. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +constexpr char kNodeName[] = "cloudwatch_logger"; +constexpr int kNodeSubQueueSize = 100; +constexpr char kNodeRosoutAggregatedTopicName[] = "rosout_agg"; + +constexpr char kNodeParamLogStreamNameKey[] = "log_stream_name"; +constexpr char kNodeParamPublishFrequencyKey[] = "publish_frequency"; +constexpr char kNodeParamSubscribeToRosoutKey[] = "sub_to_rosout"; +constexpr char kNodeParamLogGroupNameKey[] = "log_group_name"; +constexpr char kNodeParamLogTopicsListKey[] = "topics"; +constexpr char kNodeParamMinLogVerbosityKey[] = "min_log_verbosity"; + +constexpr char kNodeLogGroupNameDefaultValue[] = "ros_log_group"; +constexpr char kNodeLogStreamNameDefaultValue[] = "ros_log_stream"; +constexpr int8_t kNodeMinLogVerbosityDefaultValue = rosgraph_msgs::Log::DEBUG; +constexpr double kNodePublishFrequencyDefaultValue = 5.0; +constexpr bool kNodeSubscribeToRosoutDefaultValue = true; + +Aws::AwsError ReadPublishFrequency( + std::shared_ptr parameter_reader, + double & publish_frequency) +{ + Aws::AwsError ret = + parameter_reader->ReadDouble(kNodeParamPublishFrequencyKey, publish_frequency); + if (ret == Aws::AWS_ERR_NOT_FOUND) { + publish_frequency = kNodePublishFrequencyDefaultValue; + AWS_LOGSTREAM_WARN(__func__, + "Publish frequency configuration not found, setting to default value: " + << kNodePublishFrequencyDefaultValue); + } else { + AWS_LOGSTREAM_INFO(__func__, "Publish frequency is set to: " << publish_frequency); + } + return ret; +} + +Aws::AwsError ReadLogGroup(std::shared_ptr parameter_reader, + std::string & log_group) +{ + Aws::AwsError ret = parameter_reader->ReadStdString(kNodeParamLogGroupNameKey, log_group); + if (ret == Aws::AWS_ERR_NOT_FOUND) { + log_group = kNodeLogGroupNameDefaultValue; + AWS_LOGSTREAM_WARN(__func__, + "Log group name configuration not found, setting to default value: " + << kNodeLogGroupNameDefaultValue); + } else { + AWS_LOGSTREAM_INFO(__func__, "Log group name is set to: " << log_group); + } + return ret; +} + +Aws::AwsError ReadLogStream(std::shared_ptr parameter_reader, + std::string & log_stream) +{ + Aws::AwsError ret = parameter_reader->ReadStdString(kNodeParamLogStreamNameKey, log_stream); + if (ret == Aws::AWS_ERR_NOT_FOUND) { + log_stream = kNodeLogStreamNameDefaultValue; + AWS_LOGSTREAM_WARN(__func__, + "Log stream name configuration not found, setting to default value: " + << kNodeLogStreamNameDefaultValue); + } else { + AWS_LOGSTREAM_INFO(__func__, "Log stream name is set to: " << log_stream); + } + return ret; +} + +Aws::AwsError ReadSubscribeToRosout( + std::shared_ptr parameter_reader, + bool & subscribe_to_rosout) +{ + Aws::AwsError ret = + parameter_reader->ReadBool(kNodeParamSubscribeToRosoutKey, subscribe_to_rosout); + if (ret == Aws::AWS_ERR_NOT_FOUND) { + subscribe_to_rosout = kNodeSubscribeToRosoutDefaultValue; + AWS_LOGSTREAM_WARN( + __func__, + "Whether to subscribe to rosout_agg topic configuration not found, setting to default value: " + << kNodeSubscribeToRosoutDefaultValue); + } else { + AWS_LOGSTREAM_INFO( + __func__, "Whether to subscribe to rosout_agg topic is set to: " << subscribe_to_rosout); + } + return ret; +} + +Aws::AwsError ReadMinLogVerbosity( + std::shared_ptr parameter_reader, + int8_t & min_log_verbosity) +{ + min_log_verbosity = kNodeMinLogVerbosityDefaultValue; + + std::string specified_verbosity; + Aws::AwsError ret = + parameter_reader->ReadStdString(kNodeParamMinLogVerbosityKey, specified_verbosity); + if (ret == Aws::AWS_ERR_NOT_FOUND) { + AWS_LOGSTREAM_WARN(__func__, "Log verbosity configuration not found, setting to default value: " + << kNodeMinLogVerbosityDefaultValue); + } else { + if ("DEBUG" == specified_verbosity) { + min_log_verbosity = rosgraph_msgs::Log::DEBUG; + AWS_LOG_INFO(__func__, "Log verbosity is set to DEBUG."); + } else if ("INFO" == specified_verbosity) { + min_log_verbosity = rosgraph_msgs::Log::INFO; + AWS_LOG_INFO(__func__, "Log verbosity is set to INFO."); + } else if ("WARN" == specified_verbosity) { + min_log_verbosity = rosgraph_msgs::Log::WARN; + AWS_LOG_INFO(__func__, "Log verbosity is set to WARN."); + } else if ("ERROR" == specified_verbosity) { + min_log_verbosity = rosgraph_msgs::Log::ERROR; + AWS_LOG_INFO(__func__, "Log verbosity is set to ERROR."); + } else if ("FATAL" == specified_verbosity) { + min_log_verbosity = rosgraph_msgs::Log::FATAL; + AWS_LOG_INFO(__func__, "Log verbosity is set to FATAL."); + } else { + AWS_LOGSTREAM_WARN(__func__, + "Log verbosity configuration not valid, setting to default value: " + << kNodeMinLogVerbosityDefaultValue); + } + } + + return ret; +} + +Aws::AwsError ReadSubscriberList( + std::shared_ptr parameter_reader, + std::vector & subscriptions, ros::NodeHandle & nh, bool & subscribe_to_rosout, + boost::function callback) +{ + std::vector topics; + Aws::AwsError ret = parameter_reader->ReadList(kNodeParamLogTopicsListKey, topics); + + for (auto it = topics.begin(); it != topics.end(); ++it) { + ros::Subscriber sub = nh.subscribe(*it, kNodeSubQueueSize, callback); + AWS_LOGSTREAM_INFO(__func__, "Subscribing to topic: " << *it); + subscriptions.push_back(sub); + } + if (subscribe_to_rosout) { + ros::Subscriber sub = nh.subscribe(kNodeRosoutAggregatedTopicName, kNodeSubQueueSize, callback); + AWS_LOG_INFO(__func__, "Subscribing to rosout_agg"); + subscriptions.push_back(sub); + } + return ret; +} + +int main(int argc, char ** argv) +{ + Aws::Utils::Logging::InitializeAWSLogging( + Aws::MakeShared(kNodeName)); + ros::init(argc, argv, kNodeName); + AWS_LOGSTREAM_INFO(__func__, "Starting " << kNodeName << "..."); + + // required values + double publish_frequency; + std::string log_group; + std::string log_stream; + bool subscribe_to_rosout; + int8_t min_log_verbosity; + std::vector subscriptions; + + ros::NodeHandle nh; + + std::shared_ptr parameter_reader = + std::make_shared(); + + // checking configurations to set values or set to default values; + ReadPublishFrequency(parameter_reader, publish_frequency); + ReadLogGroup(parameter_reader, log_group); + ReadLogStream(parameter_reader, log_stream); + ReadSubscribeToRosout(parameter_reader, subscribe_to_rosout); + ReadMinLogVerbosity(parameter_reader, min_log_verbosity); + + // configure aws settings + Aws::Client::ClientConfigurationProvider client_config_provider(parameter_reader); + Aws::Client::ClientConfiguration config = client_config_provider.GetClientConfiguration(); + Aws::SDKOptions sdk_options; + + Aws::CloudWatchLogs::Utils::LogNode cloudwatch_logger(min_log_verbosity); + cloudwatch_logger.Initialize(log_group, log_stream, config, sdk_options); + + // callback function + boost::function callback; + callback = [&cloudwatch_logger](const rosgraph_msgs::Log::ConstPtr & log_msg) -> void { + cloudwatch_logger.RecordLogs(log_msg); + }; + + // subscribe to additional topics, if any + ReadSubscriberList(parameter_reader, subscriptions, nh, subscribe_to_rosout, callback); + AWS_LOGSTREAM_INFO(__func__, "Initialized " << kNodeName << "."); + + // a ros timer that triggers log publisher to publish periodically + ros::Timer timer = + nh.createTimer(ros::Duration(publish_frequency), + &Aws::CloudWatchLogs::Utils::LogNode::TriggerLogPublisher, &cloudwatch_logger); + ros::spin(); + AWS_LOGSTREAM_INFO(__func__, "Shutting down " << kNodeName << "."); + Aws::Utils::Logging::ShutdownAWSLogging(); + ros::shutdown(); + return 0; +} diff --git a/cloudwatch_logger/src/log_node.cpp b/cloudwatch_logger/src/log_node.cpp new file mode 100644 index 0000000..977440c --- /dev/null +++ b/cloudwatch_logger/src/log_node.cpp @@ -0,0 +1,107 @@ +/* + * Copyright 2018 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"). + * You may not use this file except in compliance with the License. + * A copy of the License is located at + * + * http://aws.amazon.com/apache2.0 + * + * or in the "license" file accompanying this file. This file is distributed + * on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either + * express or implied. See the License for the specific language governing + * permissions and limitations under the License. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace Aws::CloudWatchLogs::Utils; + +LogNode::LogNode(int8_t min_log_severity) +{ + this->log_manager_ = nullptr; + this->min_log_severity_ = min_log_severity; +} + +LogNode::~LogNode() { this->log_manager_ = nullptr; } + +void LogNode::Initialize(const std::string & log_group, const std::string & log_stream, + Aws::Client::ClientConfiguration & config, Aws::SDKOptions & sdk_options) +{ + LogManagerFactory factory; + this->log_manager_ = factory.CreateLogManager(log_group, log_stream, config, sdk_options); +} + +void LogNode::RecordLogs(const rosgraph_msgs::Log::ConstPtr & log_msg) +{ + if (log_msg->name != "/cloudwatch_logger" && log_msg->name != "/cloudwatch_metrics_collector") { + if (nullptr == this->log_manager_) { + AWS_LOG_ERROR(__func__, + "Cannot publish CloudWatch logs with NULL CloudWatch LogManager instance."); + return; + } + if (ShouldSendToCloudWatchLogs(log_msg->level)) { + this->log_manager_->RecordLog(FormatLogs(log_msg)); + } + } +} + +void LogNode::TriggerLogPublisher(const ros::TimerEvent &) { this->log_manager_->Service(); } + +bool LogNode::ShouldSendToCloudWatchLogs(const int8_t log_severity_level) +{ + return log_severity_level >= this->min_log_severity_; +} + +const std::string LogNode::FormatLogs(const rosgraph_msgs::Log::ConstPtr & log_msg) +{ + std::stringstream ss; + ss << log_msg->header.stamp << " "; + + switch (log_msg->level) { + case rosgraph_msgs::Log::FATAL: + ss << "FATAL "; + break; + case rosgraph_msgs::Log::ERROR: + ss << "ERROR "; + break; + case rosgraph_msgs::Log::WARN: + ss << "WARN "; + break; + case rosgraph_msgs::Log::DEBUG: + ss << "DEBUG "; + break; + case rosgraph_msgs::Log::INFO: + ss << "INFO "; + break; + default: + ss << log_msg->level << " "; + } + ss << "[node name: " << log_msg->name << "] "; + + ss << "[topics: "; + std::vector::const_iterator it = log_msg->topics.begin(); + std::vector::const_iterator end = log_msg->topics.end(); + for (; it != end; ++it) { + const std::string & topic = *it; + + if (it != log_msg->topics.begin()) { + ss << ", "; + } + + ss << topic; + } + ss << "] " << log_msg->msg << "\n"; + + return ss.str(); +} \ No newline at end of file diff --git a/wiki/images/cpu.svg b/wiki/images/cpu.svg new file mode 100644 index 0000000..14b908a --- /dev/null +++ b/wiki/images/cpu.svg @@ -0,0 +1,4 @@ + +CPU 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