Include more processes to monitor CPU usage and add total memory usag…

…e to system performance script (#2469)

* more processes

* formatted

* bit more accurate

* fix

* remove extra code

* extra files

* Address comments

* Add total memory

* add total memory GB info

* add cpu number

engineering_tools/monitor-ros-cpu.py

@@ -1,12 +1,42 @@
 #!/usr/bin/env python3
 import psutil
-import subprocess
 import time
 import csv
 import os
 import argparse
 from datetime import datetime
 
+# Define ROS-related keywords to filter processes
+ROS_KEYWORDS = {
+    "ros",
+    "node",
+    "rviz",
+    "rqt",
+    "/opt/ros/",  # ROS installation path
+    "/opt/carma/",  # CARMA ROS installation path
+    "roscore",
+    "rosmaster",
+    "roslaunch",
+    "rostopic",
+    "rosnode",
+    "rosbag",
+    "ros2",
+    "ros1_bridge",
+    "rmw",  # ROS middleware
+    "fastrtps",
+    "cyclonedds",
+    "rclcpp",
+    "rclpy",
+    "noetic",
+    "foxy",
+    "humble",
+}
+
+# Define processes to exclude (to avoid false positives)
+# NOTE: Detection of these keywords overwrites the ROS_KEYWORDS
+EXCLUDE_KEYWORDS = {"code", "chrome", "firefox", "vscode", "gnome"}
+
+
 def parse_args():
     parser = argparse.ArgumentParser(description="Monitor CPU usage of ROS2 nodes")
     parser.add_argument(
@@ -15,17 +45,61 @@ def parse_args():
         default="carma-cpu-usage-logs",
         help="Directory to store output files (default: carma-cpu-usage-logs)",
     )
+    parser.add_argument(
+        "--include-pattern",
+        "-i",
+        help="Additional comma-separated patterns to include in process filtering",
+    )
     return parser.parse_args()
 
+
 def setup_logging_directory(output_dir):
     if not os.path.exists(output_dir):
         os.makedirs(output_dir)
     timestamp = datetime.now().strftime("%Y_%m_%d-%H_%M_%S")
     filename = f"cpu_usage_ros2_nodes_{timestamp}.csv"
     return os.path.join(output_dir, filename)
 
+
+def is_ros_related_process(proc_info, cmdline):
+    """
+    Check if a process is ROS-related based on name and command line
+    """
+    # Convert process information to lowercase for case-insensitive matching
+    name_lower = proc_info["name"].lower()
+    cmdline_lower = cmdline.lower()
+
+    # Check exclusions first
+    if any(excl in name_lower or excl in cmdline_lower for excl in EXCLUDE_KEYWORDS):
+        return False
+
+    # Check for ROS-related keywords in process name and command line
+    return any(
+        keyword in name_lower or keyword in cmdline_lower for keyword in ROS_KEYWORDS
+    )
+
+
+def get_process_environment(pid):
+    """
+    Try to get ROS-related environment variables for a process
+    """
+    try:
+        proc = psutil.Process(pid)
+        env = proc.environ()
+        ros_env = {k: v for k, v in env.items() if "ROS" in k}
+        return bool(ros_env)
+    except (psutil.NoSuchProcess, psutil.AccessDenied):
+        return False
+
+
 def main():
     args = parse_args()
+
+    # Add any additional include patterns from command line
+    if args.include_pattern:
+        additional_patterns = set(args.include_pattern.split(","))
+        ROS_KEYWORDS.update(additional_patterns)
+
     output_file = setup_logging_directory(args.output_dir)
 
     with open(output_file, mode="a") as file:
@@ -39,28 +113,34 @@ def main():
                 "Memory (%)",
                 "Command Line",
                 "Total CPU (%)",
+                "Total CPU Num",
+                "Total Memory (%)",
+                "Total Memory (GB)",
             ]
         )
+
         print(f"Starting to monitor the CPU usage data and saving to: {output_file}")
 
+        # Total CPU and memory size in GB doesn't change
+        total_memory_gb = psutil.virtual_memory().total / (1024**3)
+        total_cpus = os.cpu_count()
+
         while True:
             timestamp = datetime.now().strftime("%Y-%m-%d %H:%M:%S.%f")[:-3]
             total_cpu_percent = psutil.cpu_percent(interval=None)
+            total_memory_percent = (
+                psutil.virtual_memory().percent
+            )  # Get total memory usage
 
             for proc in psutil.process_iter(
                 ["pid", "name", "cpu_percent", "memory_percent", "cmdline"]
             ):
                 try:
-                    # Fix for the join() error - handle None case
-                    cmdline = " ".join(proc.info["cmdline"]) if proc.info["cmdline"] else ""
-
-                    if (
-                        "ros" in proc.info["name"].lower()
-                        or "node" in proc.info["name"].lower()
-                        or "node" in cmdline.lower()
-                        or "python3" in proc.info["name"].lower()
-                        or "ros" in cmdline.lower()
-                    ) and not ("code" in proc.info["name"].lower()):
+                    cmdline = (
+                        " ".join(proc.info["cmdline"]) if proc.info["cmdline"] else ""
+                    )
+
+                    if is_ros_related_process(proc.info, cmdline):
                         pid = proc.info["pid"]
                         name = proc.info["name"]
                         cpu_percent = proc.info["cpu_percent"]
@@ -75,8 +155,12 @@ def main():
                                 memory_percent,
                                 cmdline,
                                 total_cpu_percent,
+                                total_cpus,
+                                total_memory_percent,
+                                total_memory_gb,
                             ]
                         )
+
                 except (
                     psutil.NoSuchProcess,
                     psutil.AccessDenied,
@@ -86,5 +170,6 @@ def main():
 
             time.sleep(1)
 
+
 if __name__ == "__main__":
     main()