Grafana Integration

.github/workflows/lint.yaml

@@ -41,6 +41,7 @@ jobs:
           package-name: |
             diagnostic_aggregator
             diagnostic_common_diagnostics
+            diagnostic_remote_logging
             diagnostic_updater
             self_test
 

.github/workflows/test.yaml

@@ -17,6 +17,7 @@ jobs:
         package: [
             diagnostic_aggregator,
             diagnostic_common_diagnostics,
+            diagnostic_remote_logging,
             diagnostic_updater,
             self_test,
           ]

diagnostic_remote_logging/CMakeLists.txt

@@ -0,0 +1,52 @@
+cmake_minimum_required(VERSION 3.8)
+
+project(diagnostic_remote_logging)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+set(dependencies
+    ament_cmake
+    rclcpp
+    rclcpp_components
+    diagnostic_msgs
+    CURL
+)
+
+foreach(dep ${dependencies})
+    find_package(${dep} REQUIRED)
+endforeach(dep)
+
+include_directories(
+    src/
+    include/
+)
+add_library(influx_component SHARED src/influxdb.cpp)
+
+ament_target_dependencies(influx_component ${dependencies})
+
+ament_export_dependencies(influx_component ${dependencies})
+
+target_compile_features(influx_component PUBLIC c_std_99 cxx_std_17)
+
+rclcpp_components_register_node(
+    influx_component
+    PLUGIN "InfluxDB"
+    EXECUTABLE influx
+)
+ament_export_targets(export_influx_component)
+install(TARGETS influx_component
+        EXPORT export_influx_component
+        ARCHIVE DESTINATION lib
+        LIBRARY DESTINATION lib
+        RUNTIME DESTINATION bin
+)
+
+if(BUILD_TESTING)
+    find_package(ament_cmake_gtest REQUIRED)
+    ament_add_gtest(unit_tests test/influx_line_protocol.cpp)
+    target_include_directories(unit_tests PRIVATE include)
+    target_link_libraries(unit_tests influx_component)
+    ament_target_dependencies(unit_tests ${dependencies} ament_cmake_gtest)
+endif()
+ament_package()

diagnostic_remote_logging/CMakeLists.txt.uncrustify

@@ -0,0 +1,52 @@
+cmake_minimum_required(VERSION 3.8)
+
+project(diagnostic_remote_logging)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall - Wextra - Wpedantic)
+  endif()
+
+  set(dependencies
+    ament_cmake
+    rclcpp
+    rclcpp_components
+    diagnostic_msgs
+    CURL
+  )
+
+  foreach(dep $ {dependencies})
+  find_package($ {dep} REQUIRED)
+  endforeach(dep)
+
+  include_directories(
+    src /
+    include /
+  )
+  add_library(influx_component SHARED src / influxdb.cpp)
+
+  ament_target_dependencies(influx_component $ {dependencies})
+
+  ament_export_dependencies(influx_component $ {dependencies})
+
+  target_compile_features(influx_component PUBLIC c_std_99 cxx_std_17)
+
+  rclcpp_components_register_node(
+    influx_component
+    PLUGIN "InfluxDB"
+    EXECUTABLE influx
+  )
+  ament_export_targets(export_influx_component)
+  install(TARGETS influx_component
+        EXPORT export_influx_component
+        ARCHIVE DESTINATION lib
+        LIBRARY DESTINATION lib
+        RUNTIME DESTINATION bin
+  )
+
+  if(BUILD_TESTING)
+    find_package(ament_cmake_gtest REQUIRED)
+    ament_add_gtest(unit_tests test / influx_line_protocol.cpp)
+    target_include_directories(unit_tests PRIVATE include)
+    target_link_libraries(unit_tests influx_component)
+    ament_target_dependencies(unit_tests $ {dependencies} ament_cmake_gtest)
+    endif()
+    ament_package()

diagnostic_remote_logging/CMakeLists.txt.uncrustify.uncrustify

@@ -0,0 +1,52 @@
+cmake_minimum_required(VERSION 3.8)
+
+project(diagnostic_remote_logging)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall - Wextra - Wpedantic)
+  endif()
+
+  set(dependencies
+    ament_cmake
+    rclcpp
+    rclcpp_components
+    diagnostic_msgs
+    CURL
+  )
+
+  foreach(dep $ {dependencies})
+  find_package($ {dep} REQUIRED)
+  endforeach(dep)
+
+  include_directories(
+    src /
+    include /
+  )
+  add_library(influx_component SHARED src / influxdb.cpp)
+
+  ament_target_dependencies(influx_component $ {dependencies})
+
+  ament_export_dependencies(influx_component $ {dependencies})
+
+  target_compile_features(influx_component PUBLIC c_std_99 cxx_std_17)
+
+  rclcpp_components_register_node(
+    influx_component
+    PLUGIN "InfluxDB"
+    EXECUTABLE influx
+  )
+  ament_export_targets(export_influx_component)
+  install(TARGETS influx_component
+        EXPORT export_influx_component
+        ARCHIVE DESTINATION lib
+        LIBRARY DESTINATION lib
+        RUNTIME DESTINATION bin
+  )
+
+  if(BUILD_TESTING)
+    find_package(ament_cmake_gtest REQUIRED)
+    ament_add_gtest(unit_tests test / influx_line_protocol.cpp)
+    target_include_directories(unit_tests PRIVATE include)
+    target_link_libraries(unit_tests influx_component)
+    ament_target_dependencies(unit_tests $ {dependencies} ament_cmake_gtest)
+    endif()
+    ament_package()

diagnostic_remote_logging/README.md

@@ -0,0 +1,81 @@
+General information about this repository, including legal information and known issues/limitations, are given in [README.md](../README.md) in the repository root.
+
+# The diagnostic_remote_logging package
+
+This package provides the `influx` node, which listens to diagnostic messages and integrates with InfluxDB v2 for monitoring and visualization. Specifically, it subscribes to the [`diagnostic_msgs/DiagnosticArray`](https://index.ros.org/p/diagnostic_msgs) messages on the `/diagnostics_agg` topic and the [`diagnostic_msgs/DiagnosticStatus`](https://index.ros.org/p/diagnostic_msgs) messages on the `/diagnostics_toplevel_state` topic. The node processes these messages, sending their statistics and levels to an [`InfluxDB`](http://influxdb.com) database, enabling use with tools like [`Grafana`](https://grafana.com).
+
+As of now we only support InfluxDB v2, for support with older versions please use a proxy like [`Telegraf`](https://www.influxdata.com/time-series-platform/telegraf/). See section [Telegraf](#using-a-telegraf-proxy) for an example on how to setup.
+
+## Node Configuration
+
+You can send data to [`InfluxDB`](http://influxdb.com) in two ways: directly to the database or via a proxy like [`Telegraf`](https://www.influxdata.com/time-series-platform/telegraf/). While both methods are valid, using a proxy is generally recommended due to the following benefits:
+
+- **Efficient Data Transmission**: Telegraf aggregates multiple measurements and sends them in a single request, reducing bandwidth usage and minimizing database load.
+- **Enhanced Reliability**: Provides buffering in case of connection issues, ensuring no data is lost.
+- **Comprehensive Metric Collection**: Telegraf can send additional system metrics (e.g., RAM, CPU, network usage) with minimal configuration.
+- **Data Filtering and Transformation**: Supports preprocessing, such as filtering or transforming data, before sending it to InfluxDB.
+
+To use either method, ensure you have a running instance of InfluxDB. The simplest way to set this up is through [`InfluxDB Cloud`](https://cloud2.influxdata.com/signup).
+
+### Parameters
+
+The `influx` node supports several parameters. Below is an example configuration:
+
+```yaml
+/influx:
+  ros__parameters:
+    connection:
+      url: http://localhost:8086/api/v2/write
+      token:
+      bucket:
+      organization:
+    send:
+      agg: true
+      top_level_state: true
+```
+
+- `send.agg`: Enables or disables subscription to the `/diagnostics_agg` topic.
+- `send.top_level_state`: Enables or disables subscription to the `/diagnostics_toplevel_state` topic.
+
+#### InfluxDB Configuration
+
+Set the following parameters in your configuration to match your InfluxDB instance:
+
+- `connection.url`: The URL of your InfluxDB write API endpoint.
+- `connection.token`: Your InfluxDB authentication token.
+- `connection.bucket`: The target bucket in InfluxDB.
+- `connection.organization`: The name of your InfluxDB organization.
+
+### Starting the node
+
+Afterward all configurations are set run the node with the following command:
+
+```bash
+ros2 run diagnostic_remote_logging influx --ros-args --params-file <path_to_yaml_file>
+```
+
+## Using a Telegraf Proxy
+
+To configure Telegraf as a proxy for InfluxDB:
+
+1. Ensure Telegraf is set up to send data to your InfluxDB instance via its configuration file (`/etc/telegraf/telegraf.conf`). Check [this link](https://docs.influxdata.com/influxdb/cloud/write-data/no-code/use-telegraf/manual-config/) for an example.
+2. Add the following to the telegraf configuration file to enable the InfluxDB v2 listener:
+
+    ```toml
+    [[inputs.influxdb_v2_listener]]
+      service_address = ":8086"
+    ```
+
+3. Update the `influx` node configuration to point to the appropriate URL. For example, if Telegraf is running on the same host as the `influx` node, the default `http://localhost:8086/api/v2/write` should work.
+
+4. Leave the following parameters empty in the `influx` node configuration when using Telegraf as a proxy:
+
+    - `connection.token`
+    - `connection.bucket`
+    - `connection.organization`
+
+5. Afterwards run the node with the following command:
+
+    ```bash
+    ros2 run diagnostic_remote_logging influx --ros-args --params-file <path_to_yaml_file>
+    ```