Implement low and crit parameters in hd_monitor

limaanto · May 28, 2024 · 8eba67b · 8eba67b
1 parent 6c60eda
commit 8eba67b
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Showing 2 changed files with 12 additions and 5 deletions.
diff --git a/diagnostic_common_diagnostics/diagnostic_common_diagnostics/hd_monitor.py b/diagnostic_common_diagnostics/diagnostic_common_diagnostics/hd_monitor.py
@@ -69,15 +69,22 @@ def __init__(self):
 
         self.add_on_set_parameters_callback(self.callback_config)
         self.declare_parameter("path", "~")
+        self.declare_parameter("free_percent_low", 0.05)
+        self.declare_parameter("free_percent_crit", 0.01)
 
         self._updater = Updater(self)
         self._updater.setHardwareID(hostname)
         self._updater.add(f"{hostname} HD Usage", self.check_disk_usage)
 
     def callback_config(self, params: List[rclpy.Parameter]):
         for param in params:
-            if param.name == "path":
-                self._path = str(Path(param.value).expanduser().resolve(strict=True))
+            match param.name:
+                case "path":
+                    self._path = str(Path(param.value).expanduser().resolve(strict=True))
+                case "free_percent_low":
+                    self._free_percent_low = param.value
+                case "free_percent_crit":
+                    self._free_percent_crit = param.value
         return SetParametersResult(successful=True)
 
     def check_disk_usage(self, diag: DiagnosticStatus) -> DiagnosticStatus:
@@ -86,9 +93,9 @@ def check_disk_usage(self, diag: DiagnosticStatus) -> DiagnosticStatus:
         total, used, free = disk_usage(self._path)
         percent = free / total
 
-        if percent > FREE_PERCENT_LOW:
+        if percent > self._free_percent_low:
             diag.level = DiagnosticStatus.OK
-        elif percent > FREE_PERCENT_CRIT:
+        elif percent > self._free_percent_crit:
             diag.level = DiagnosticStatus.WARN
         else:
             diag.level = DiagnosticStatus.ERROR

diff --git a/diagnostic_common_diagnostics/test/systemtest/test_hd_monitor_launchtest.py b/diagnostic_common_diagnostics/test/systemtest/test_hd_monitor_launchtest.py
@@ -58,7 +58,7 @@ def generate_test_description():
             executable='hd_monitor.py',
             name='hd_monitor',
             output='screen',
-            arguments=[]
+            ros_arguments=["free_percent_low", "0.20", "free_percent_crit", "0.05"],
         ),
         launch_testing.actions.ReadyToTest()
     ])