RAMSegment.cpp

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// BaseClass
#include "RAMSegment.h"
 
// ArmarX
#include <RobotAPI/libraries/PriorKnowledge/motions/MotionFinder.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
 
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
#include <ArmarXCore/core/application/properties/ProxyPropertyDefinition.h>
 
#include <RobotAPI/libraries/aron/core/data/variant/All.h>
 
namespace armarx::armem::server::systemstate::segment
{
    LightweightRamMonitorProviderSegment::LightweightRamMonitorProviderSegment(armem::server::MemoryToIceAdapter& iceMemory) :
        Base(iceMemory, "LightweightSystemMonitor", "MemoryUsage", nullptr, nullptr, 1000)
    {
 
    }
 
    void LightweightRamMonitorProviderSegment::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
    {
        defs->optional(pollFrequencyHz, prefix + "pollFrequencyHz", "The poll frequency in Hz");
    }
 
    void LightweightRamMonitorProviderSegment::init()
    {
        Base::init();
 
        pollFrequencyHz = std::clamp(pollFrequencyHz, 0.1f, 100.f);
 
        usleep(200 * 1000.f); // sleep for 100ms to ensure the monitor is ready
 
        runningTask = new PeriodicTask<LightweightRamMonitorProviderSegment>(this, &LightweightRamMonitorProviderSegment::loop, (1000.f / pollFrequencyHz));
        runningTask->start();
    }
 
    void LightweightRamMonitorProviderSegment::loop()
    {
        ARMARX_CHECK_NOT_NULL(segmentPtr);
 
        MemoryID providerId = segmentPtr->id();
 
        long total = memoryMonitoring->getTotalMemoryInKB();
        double usage = memoryMonitoring->getCurrentMemUsageInPercent();
 
        auto data = std::make_shared<aron::data::Dict>();
        data->addElement("total", std::make_shared<aron::data::Long>(total)); // TODO in seperate segment?
        data->addElement("load", std::make_shared<aron::data::Double>(usage));
 
        ARMARX_DEBUG << "RAM Usage is: " << usage << "% (of " << total << "KB max)";
 
        EntityUpdate update;
        update.entityID = providerId.withEntityName("CurrentMemoryLoad");
        update.confidence = 1.0;
        update.referencedTime = armem::Time::Now();
        update.instancesData = { data };
 
        segmentPtr->update(update);
    }
}