Merge pull request 'feat(jetson): CPU/GPU thermal monitor — sysfs + /saltybot/thermal JSON (Issue #205)' (#209) from sl-jetson/issue-205-thermal into main

jetson/ros2_ws/src/saltybot_thermal/config/thermal_params.yaml

@@ -0,0 +1,6 @@
+thermal_node:
+  ros__parameters:
+    publish_rate_hz: 1.0        # Hz — publish rate for /saltybot/thermal
+    warn_temp_c: 75.0           # Log WARN above this temperature (°C)
+    throttle_temp_c: 85.0       # Log ERROR + set throttled=true above this (°C)
+    thermal_root: "/sys/class/thermal"  # Sysfs thermal root; override for tests

jetson/ros2_ws/src/saltybot_thermal/launch/thermal.launch.py

@@ -0,0 +1,42 @@
+"""thermal.launch.py — Launch the Jetson thermal monitor (Issue #205).
+
+Usage:
+  ros2 launch saltybot_thermal thermal.launch.py
+  ros2 launch saltybot_thermal thermal.launch.py warn_temp_c:=70.0
+"""
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    pkg = get_package_share_directory("saltybot_thermal")
+    cfg = os.path.join(pkg, "config", "thermal_params.yaml")
+
+    return LaunchDescription([
+        DeclareLaunchArgument("publish_rate_hz",  default_value="1.0",
+                              description="Publish rate (Hz)"),
+        DeclareLaunchArgument("warn_temp_c",      default_value="75.0",
+                              description="WARN threshold (°C)"),
+        DeclareLaunchArgument("throttle_temp_c",  default_value="85.0",
+                              description="THROTTLE threshold (°C)"),
+
+        Node(
+            package="saltybot_thermal",
+            executable="thermal_node",
+            name="thermal_node",
+            output="screen",
+            parameters=[
+                cfg,
+                {
+                    "publish_rate_hz": LaunchConfiguration("publish_rate_hz"),
+                    "warn_temp_c":     LaunchConfiguration("warn_temp_c"),
+                    "throttle_temp_c": LaunchConfiguration("throttle_temp_c"),
+                },
+            ],
+        ),
+    ])

jetson/ros2_ws/src/saltybot_thermal/package.xml

@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>saltybot_thermal</name>
+  <version>0.1.0</version>
+  <description>
+    Jetson thermal monitor (Issue #205). Reads /sys/class/thermal/thermal_zone*,
+    publishes /saltybot/thermal JSON at 1 Hz, warns at 75 °C, throttles at 85 °C.
+  </description>
+  <maintainer email="sl-jetson@saltylab.local">sl-jetson</maintainer>
+  <license>MIT</license>
+
+  <depend>rclpy</depend>
+  <depend>std_msgs</depend>
+
+  <buildtool_depend>ament_python</buildtool_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

jetson/ros2_ws/src/saltybot_thermal/saltybot_thermal/thermal_node.py

@@ -0,0 +1,139 @@
+"""thermal_node.py — Jetson CPU/GPU thermal monitor.
+Issue #205
+
+Reads every /sys/class/thermal/thermal_zone* sysfs entry, publishes a JSON
+blob on /saltybot/thermal at a configurable rate (default 1 Hz), and logs
+ROS2 WARN / ERROR when zone temperatures exceed configurable thresholds.
+
+Published topic:
+  /saltybot/thermal  (std_msgs/String, JSON)
+
+JSON schema:
+  {
+    "ts": <float unix seconds>,
+    "zones": [
+      {"zone": "CPU-therm", "index": 0, "temp_c": 42.5},
+      ...
+    ],
+    "max_temp_c": 55.0,
+    "throttled": false,
+    "warn": false
+  }
+
+Parameters:
+  publish_rate_hz   (float, 1.0)  — publish rate
+  warn_temp_c       (float, 75.0) — log WARN above this temperature
+  throttle_temp_c   (float, 85.0) — log ERROR and set throttled=true above this
+  thermal_root      (str, "/sys/class/thermal") — sysfs thermal root (override for tests)
+"""
+
+from __future__ import annotations
+
+import json
+import os
+import time
+from typing import List, Optional
+
+import rclpy
+from rclpy.node import Node
+from rclpy.qos import QoSProfile
+from std_msgs.msg import String
+
+
+def read_thermal_zones(root: str) -> List[dict]:
+    """Return a list of {zone, index, temp_c} dicts from sysfs."""
+    zones = []
+    try:
+        entries = sorted(os.listdir(root))
+    except OSError:
+        return zones
+    for entry in entries:
+        if not entry.startswith("thermal_zone"):
+            continue
+        try:
+            idx = int(entry[len("thermal_zone"):])
+        except ValueError:
+            continue
+        zone_dir = os.path.join(root, entry)
+        try:
+            with open(os.path.join(zone_dir, "type")) as f:
+                zone_type = f.read().strip()
+        except OSError:
+            zone_type = entry
+        try:
+            with open(os.path.join(zone_dir, "temp")) as f:
+                temp_mc = int(f.read().strip())   # millidegrees Celsius
+            temp_c = round(temp_mc / 1000.0, 1)
+        except (OSError, ValueError):
+            continue
+        zones.append({"zone": zone_type, "index": idx, "temp_c": temp_c})
+    return zones
+
+
+class ThermalNode(Node):
+    """Reads Jetson thermal zones and publishes /saltybot/thermal at 1 Hz."""
+
+    def __init__(self) -> None:
+        super().__init__("thermal_node")
+
+        self.declare_parameter("publish_rate_hz",  1.0)
+        self.declare_parameter("warn_temp_c",      75.0)
+        self.declare_parameter("throttle_temp_c",  85.0)
+        self.declare_parameter("thermal_root",     "/sys/class/thermal")
+
+        self._rate        = self.get_parameter("publish_rate_hz").value
+        self._warn_t      = self.get_parameter("warn_temp_c").value
+        self._throttle_t  = self.get_parameter("throttle_temp_c").value
+        self._root        = self.get_parameter("thermal_root").value
+
+        qos = QoSProfile(depth=10)
+        self._pub = self.create_publisher(String, "/saltybot/thermal", qos)
+        self._timer = self.create_timer(1.0 / self._rate, self._publish)
+
+        self.get_logger().info(
+            f"ThermalNode ready (rate={self._rate} Hz, "
+            f"warn={self._warn_t}°C, throttle={self._throttle_t}°C, "
+            f"root={self._root})"
+        )
+
+    def _publish(self) -> None:
+        zones = read_thermal_zones(self._root)
+        if not zones:
+            self.get_logger().warn("No thermal zones found — check thermal_root param")
+            return
+
+        max_temp = max(z["temp_c"] for z in zones)
+        throttled = max_temp >= self._throttle_t
+        warn      = max_temp >= self._warn_t
+
+        payload = {
+            "ts":         time.time(),
+            "zones":      zones,
+            "max_temp_c": max_temp,
+            "throttled":  throttled,
+            "warn":       warn,
+        }
+        msg = String()
+        msg.data = json.dumps(payload)
+        self._pub.publish(msg)
+
+        if throttled:
+            self.get_logger().error(
+                f"THERMAL THROTTLE: {max_temp}°C >= {self._throttle_t}°C"
+            )
+        elif warn:
+            self.get_logger().warn(
+                f"Thermal warning: {max_temp}°C >= {self._warn_t}°C"
+            )
+
+
+def main(args: Optional[list] = None) -> None:
+    rclpy.init(args=args)
+    node = ThermalNode()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()

jetson/ros2_ws/src/saltybot_thermal/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/saltybot_thermal
+[egg_info]
+tag_date = 0

jetson/ros2_ws/src/saltybot_thermal/setup.py

@@ -0,0 +1,27 @@
+from setuptools import setup
+
+package_name = "saltybot_thermal"
+
+setup(
+    name=package_name,
+    version="0.1.0",
+    packages=[package_name],
+    data_files=[
+        ("share/ament_index/resource_index/packages", [f"resource/{package_name}"]),
+        (f"share/{package_name}", ["package.xml"]),
+        (f"share/{package_name}/launch", ["launch/thermal.launch.py"]),
+        (f"share/{package_name}/config", ["config/thermal_params.yaml"]),
+    ],
+    install_requires=["setuptools"],
+    zip_safe=True,
+    maintainer="sl-jetson",
+    maintainer_email="sl-jetson@saltylab.local",
+    description="Jetson thermal monitor — /saltybot/thermal JSON at 1 Hz",
+    license="MIT",
+    tests_require=["pytest"],
+    entry_points={
+        "console_scripts": [
+            "thermal_node = saltybot_thermal.thermal_node:main",
+        ],
+    },
+)

jetson/ros2_ws/src/saltybot_thermal/test/test_thermal.py

@@ -0,0 +1,303 @@
+"""test_thermal.py -- Unit tests for Issue #205 Jetson thermal monitor."""
+
+from __future__ import annotations
+import json, os, time
+import pytest
+
+
+def _pkg_root():
+    return os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+
+
+def _read_src(rel_path):
+    with open(os.path.join(_pkg_root(), rel_path)) as f:
+        return f.read()
+
+
+# ── Import the sysfs reader (no ROS required) ─────────────────────────────────
+
+def _import_reader():
+    import importlib.util, sys, types
+
+    # Build minimal ROS2 stubs so thermal_node.py imports without a ROS install
+    def _stub(name):
+        m = types.ModuleType(name)
+        sys.modules[name] = m
+        return m
+
+    rclpy_mod      = _stub("rclpy")
+    rclpy_node_mod = _stub("rclpy.node")
+    rclpy_qos_mod  = _stub("rclpy.qos")
+    std_msgs_mod   = _stub("std_msgs")
+    std_msg_mod    = _stub("std_msgs.msg")
+
+    class _Node:
+        def __init__(self, *a, **kw): pass
+        def declare_parameter(self, *a, **kw): pass
+        def get_parameter(self, name):
+            class _P:
+                value = None
+            return _P()
+        def create_publisher(self, *a, **kw): return None
+        def create_timer(self, *a, **kw): return None
+        def get_logger(self):
+            class _L:
+                def info(self, *a): pass
+                def warn(self, *a): pass
+                def error(self, *a): pass
+            return _L()
+        def destroy_node(self): pass
+
+    class _QoSProfile:
+        def __init__(self, **kw): pass
+
+    class _String:
+        data = ""
+
+    rclpy_node_mod.Node = _Node
+    rclpy_qos_mod.QoSProfile = _QoSProfile
+    std_msg_mod.String = _String
+    rclpy_mod.init = lambda *a, **kw: None
+    rclpy_mod.spin = lambda node: None
+    rclpy_mod.ok   = lambda: True
+    rclpy_mod.shutdown = lambda: None
+
+    spec = importlib.util.spec_from_file_location(
+        "thermal_node_testmod",
+        os.path.join(_pkg_root(), "saltybot_thermal", "thermal_node.py"),
+    )
+    mod = importlib.util.module_from_spec(spec)
+    spec.loader.exec_module(mod)
+    return mod
+
+
+# ── Sysfs fixture helpers ─────────────────────────────────────────────────────
+
+def _make_zone(root, idx, zone_type, temp_mc):
+    """Create a fake thermal_zone<idx> directory under root."""
+    zdir = os.path.join(str(root), "thermal_zone{}".format(idx))
+    os.makedirs(zdir, exist_ok=True)
+    with open(os.path.join(zdir, "type"), "w") as f:
+        f.write(zone_type + "\n")
+    with open(os.path.join(zdir, "temp"), "w") as f:
+        f.write(str(temp_mc) + "\n")
+
+
+# ── read_thermal_zones ────────────────────────────────────────────────────────
+
+class TestReadThermalZones:
+    @pytest.fixture(scope="class")
+    def mod(self):
+        return _import_reader()
+
+    def test_empty_dir(self, mod, tmp_path):
+        assert mod.read_thermal_zones(str(tmp_path)) == []
+
+    def test_missing_dir(self, mod):
+        assert mod.read_thermal_zones("/nonexistent/path/xyz") == []
+
+    def test_single_zone(self, mod, tmp_path):
+        _make_zone(tmp_path, 0, "CPU-therm", 45000)
+        zones = mod.read_thermal_zones(str(tmp_path))
+        assert len(zones) == 1
+        assert zones[0]["zone"] == "CPU-therm"
+        assert zones[0]["temp_c"] == 45.0
+        assert zones[0]["index"] == 0
+
+    def test_temp_millidegrees_conversion(self, mod, tmp_path):
+        _make_zone(tmp_path, 0, "GPU-therm", 72500)
+        zones = mod.read_thermal_zones(str(tmp_path))
+        assert zones[0]["temp_c"] == 72.5
+
+    def test_multiple_zones(self, mod, tmp_path):
+        _make_zone(tmp_path, 0, "CPU-therm", 40000)
+        _make_zone(tmp_path, 1, "GPU-therm", 55000)
+        _make_zone(tmp_path, 2, "PMIC-Die",  38000)
+        zones = mod.read_thermal_zones(str(tmp_path))
+        assert len(zones) == 3
+
+    def test_sorted_by_index(self, mod, tmp_path):
+        _make_zone(tmp_path, 2, "Z2", 20000)
+        _make_zone(tmp_path, 0, "Z0", 10000)
+        _make_zone(tmp_path, 1, "Z1", 15000)
+        zones = mod.read_thermal_zones(str(tmp_path))
+        indices = [z["index"] for z in zones]
+        assert indices == sorted(indices)
+
+    def test_skips_non_zone_entries(self, mod, tmp_path):
+        os.makedirs(os.path.join(str(tmp_path), "cooling_device0"))
+        _make_zone(tmp_path, 0, "CPU-therm", 40000)
+        zones = mod.read_thermal_zones(str(tmp_path))
+        assert len(zones) == 1
+
+    def test_skips_zone_without_temp(self, mod, tmp_path):
+        zdir = os.path.join(str(tmp_path), "thermal_zone0")
+        os.makedirs(zdir)
+        with open(os.path.join(zdir, "type"), "w") as f:
+            f.write("CPU-therm\n")
+        # No temp file — should be skipped
+        zones = mod.read_thermal_zones(str(tmp_path))
+        assert zones == []
+
+    def test_zone_type_fallback(self, mod, tmp_path):
+        """Zone without type file falls back to directory name."""
+        zdir = os.path.join(str(tmp_path), "thermal_zone0")
+        os.makedirs(zdir)
+        with open(os.path.join(zdir, "temp"), "w") as f:
+            f.write("40000\n")
+        zones = mod.read_thermal_zones(str(tmp_path))
+        assert len(zones) == 1
+        assert zones[0]["zone"] == "thermal_zone0"
+
+    def test_temp_rounding(self, mod, tmp_path):
+        _make_zone(tmp_path, 0, "CPU-therm", 72333)
+        zones = mod.read_thermal_zones(str(tmp_path))
+        assert zones[0]["temp_c"] == 72.3
+
+
+# ── Threshold logic (pure Python) ────────────────────────────────────────────
+
+class TestThresholds:
+    def _classify(self, temp_c, warn_t=75.0, throttle_t=85.0):
+        throttled = temp_c >= throttle_t
+        warn      = temp_c >= warn_t
+        return throttled, warn
+
+    def test_normal(self):
+        t, w = self._classify(50.0)
+        assert not t and not w
+
+    def test_warn_boundary(self):
+        t, w = self._classify(75.0)
+        assert not t and w
+
+    def test_below_warn(self):
+        t, w = self._classify(74.9)
+        assert not t and not w
+
+    def test_throttle_boundary(self):
+        t, w = self._classify(85.0)
+        assert t and w
+
+    def test_above_throttle(self):
+        t, w = self._classify(90.0)
+        assert t and w
+
+    def test_custom_thresholds(self):
+        t, w = self._classify(70.0, warn_t=70.0, throttle_t=80.0)
+        assert not t and w
+
+    def test_max_temp_drives_status(self):
+        zones = [{"temp_c": 40.0}, {"temp_c": 86.0}, {"temp_c": 55.0}]
+        max_t = max(z["temp_c"] for z in zones)
+        assert max_t == 86.0
+        t, w = self._classify(max_t)
+        assert t and w
+
+
+# ── JSON payload schema ───────────────────────────────────────────────────────
+
+class TestJsonPayload:
+    def _make_payload(self, zones, warn_t=75.0, throttle_t=85.0):
+        max_temp = max(z["temp_c"] for z in zones) if zones else 0.0
+        return {
+            "ts":         time.time(),
+            "zones":      zones,
+            "max_temp_c": max_temp,
+            "throttled":  max_temp >= throttle_t,
+            "warn":       max_temp >= warn_t,
+        }
+
+    def test_has_ts(self):
+        p = self._make_payload([{"zone": "CPU", "index": 0, "temp_c": 40.0}])
+        assert "ts" in p and isinstance(p["ts"], float)
+
+    def test_has_zones(self):
+        p = self._make_payload([{"zone": "CPU", "index": 0, "temp_c": 40.0}])
+        assert "zones" in p and len(p["zones"]) == 1
+
+    def test_has_max_temp(self):
+        p = self._make_payload([{"zone": "CPU", "index": 0, "temp_c": 55.0}])
+        assert p["max_temp_c"] == 55.0
+
+    def test_throttled_false_below(self):
+        p = self._make_payload([{"zone": "CPU", "index": 0, "temp_c": 60.0}])
+        assert p["throttled"] is False
+
+    def test_warn_true_at_threshold(self):
+        p = self._make_payload([{"zone": "CPU", "index": 0, "temp_c": 75.0}])
+        assert p["warn"] is True and p["throttled"] is False
+
+    def test_throttled_true_above(self):
+        p = self._make_payload([{"zone": "CPU", "index": 0, "temp_c": 90.0}])
+        assert p["throttled"] is True
+
+    def test_json_serializable(self):
+        zones = [{"zone": "CPU", "index": 0, "temp_c": 50.0}]
+        p = self._make_payload(zones)
+        blob = json.dumps(p)
+        parsed = json.loads(blob)
+        assert parsed["max_temp_c"] == 50.0
+
+    def test_multi_zone_max(self):
+        zones = [
+            {"zone": "CPU-therm", "index": 0, "temp_c": 55.0},
+            {"zone": "GPU-therm", "index": 1, "temp_c": 78.0},
+            {"zone": "PMIC-Die",  "index": 2, "temp_c": 38.0},
+        ]
+        p = self._make_payload(zones)
+        assert p["max_temp_c"] == 78.0
+        assert p["warn"] is True
+        assert p["throttled"] is False
+
+
+# ── Node source checks ────────────────────────────────────────────────────────
+
+class TestNodeSrc:
+    @pytest.fixture(scope="class")
+    def src(self):
+        return _read_src("saltybot_thermal/thermal_node.py")
+
+    def test_class_defined(self, src):       assert "class ThermalNode" in src
+    def test_publish_rate_param(self, src):  assert '"publish_rate_hz"' in src
+    def test_warn_param(self, src):          assert '"warn_temp_c"' in src
+    def test_throttle_param(self, src):      assert '"throttle_temp_c"' in src
+    def test_thermal_root_param(self, src):  assert '"thermal_root"' in src
+    def test_topic(self, src):               assert '"/saltybot/thermal"' in src
+    def test_read_fn(self, src):             assert "read_thermal_zones" in src
+    def test_warn_log(self, src):            assert "warn" in src.lower()
+    def test_error_log(self, src):           assert "error" in src.lower()
+    def test_throttled_flag(self, src):      assert '"throttled"' in src
+    def test_warn_flag(self, src):           assert '"warn"' in src
+    def test_max_temp(self, src):            assert '"max_temp_c"' in src
+    def test_millidegrees(self, src):        assert "1000" in src
+    def test_json_dumps(self, src):          assert "json.dumps" in src
+    def test_issue_tag(self, src):           assert "205" in src
+    def test_main(self, src):                assert "def main" in src
+    def test_sysfs_path(self, src):          assert "/sys/class/thermal" in src
+
+
+# ── Package metadata ──────────────────────────────────────────────────────────
+
+class TestPackageMeta:
+    @pytest.fixture(scope="class")
+    def pkg_xml(self):
+        return _read_src("package.xml")
+
+    @pytest.fixture(scope="class")
+    def setup_py(self):
+        return _read_src("setup.py")
+
+    @pytest.fixture(scope="class")
+    def cfg(self):
+        return _read_src("config/thermal_params.yaml")
+
+    def test_pkg_name(self, pkg_xml):     assert "saltybot_thermal" in pkg_xml
+    def test_issue_tag(self, pkg_xml):    assert "205" in pkg_xml
+    def test_entry_point(self, setup_py): assert "thermal_node = saltybot_thermal.thermal_node:main" in setup_py
+    def test_cfg_node_name(self, cfg):    assert "thermal_node:" in cfg
+    def test_cfg_warn(self, cfg):         assert "warn_temp_c" in cfg
+    def test_cfg_throttle(self, cfg):     assert "throttle_temp_c" in cfg
+    def test_cfg_rate(self, cfg):         assert "publish_rate_hz" in cfg
+    def test_cfg_defaults(self, cfg):
+        assert "75.0" in cfg and "85.0" in cfg and "1.0" in cfg