feat: add external adaptor for cpu usage topic (autowarefoundation#19)

* add external adaptor for cpu usage topic

Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp>

* run pre-commit

Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp>

* modified along the comment on PR

Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp>

* modify a comment

Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp>

autoware_iv_external_api_adaptor/CMakeLists.txt

@@ -15,6 +15,7 @@ find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/cpu_usage.cpp
   src/diagnostics.cpp
   src/door.cpp
   src/emergency.cpp
@@ -31,6 +32,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
   src/velocity.cpp
   src/version.cpp
 )
+rclcpp_components_register_nodes(${PROJECT_NAME} "external_api::CpuUsage")
 rclcpp_components_register_nodes(${PROJECT_NAME} "external_api::Diagnostics")
 rclcpp_components_register_nodes(${PROJECT_NAME} "external_api::Door")
 rclcpp_components_register_nodes(${PROJECT_NAME} "external_api::Emergency")

autoware_iv_external_api_adaptor/src/cpu_usage.cpp

@@ -0,0 +1,36 @@
+// Copyright 2021 Tier IV, Inc.
+//
+// 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.
+
+#include "cpu_usage.hpp"
+
+#include <memory>
+
+namespace external_api
+{
+
+CpuUsage::CpuUsage(const rclcpp::NodeOptions & options) : Node("cpu_usage", options)
+{
+  pub_cpu_usage_ = create_publisher<tier4_external_api_msgs::msg::CpuUsage>(
+    "/api/external/get/cpu_usage", rclcpp::QoS(1));
+  sub_cpu_usage_ = create_subscription<tier4_external_api_msgs::msg::CpuUsage>(
+    "/system/system_monitor/cpu_monitor/cpu_usage", rclcpp::QoS(1),
+    [this](const tier4_external_api_msgs::msg::CpuUsage::SharedPtr msg) {
+      pub_cpu_usage_->publish(*msg);
+    });
+}
+
+}  // namespace external_api
+
+#include "rclcpp_components/register_node_macro.hpp"
+RCLCPP_COMPONENTS_REGISTER_NODE(external_api::CpuUsage)

autoware_iv_external_api_adaptor/src/cpu_usage.hpp

@@ -0,0 +1,39 @@
+// Copyright 2021 Tier IV, Inc.
+//
+// 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.
+
+#ifndef CPU_USAGE_HPP_
+#define CPU_USAGE_HPP_
+
+#include "rclcpp/rclcpp.hpp"
+#include "tier4_api_utils/tier4_api_utils.hpp"
+
+#include "tier4_external_api_msgs/msg/cpu_status.hpp"
+#include "tier4_external_api_msgs/msg/cpu_usage.hpp"
+
+namespace external_api
+{
+
+class CpuUsage : public rclcpp::Node
+{
+public:
+  explicit CpuUsage(const rclcpp::NodeOptions & options);
+
+private:
+  rclcpp::Publisher<tier4_external_api_msgs::msg::CpuUsage>::SharedPtr pub_cpu_usage_;
+  rclcpp::Subscription<tier4_external_api_msgs::msg::CpuUsage>::SharedPtr sub_cpu_usage_;
+};
+
+}  // namespace external_api
+
+#endif  // CPU_USAGE_HPP_