Application log is the traditional way to monitor an application/service. On *nix-based system, Syslog is a common but powerful tool for centrally monitoring applications logs. The primary use of syslog is for system management as capturing log data is critical for sysadmin, devOp team, or system analysts, etc. This log data is helpful in case of investigating/troubleshooting problems and maintaining healthy functioning of systems.
Syslog offers a standard log format and a standard alert system with different severity levels to applications in form of a log API. Log daemons such as rsyslog are versatile and flexible with various configuration options that enable different way to interact with the logs: log to file, log to a remote server via network (TCP, UDP sockets), log to local Unix domain socket. Log clients or log analytic applications can collect log data from the log daemon via these interfaces.
Although it is feasible to directly read log messages from the regular syslog output files, it is more preferable to collect log data from the daemon using the socket interface since socket is more suitable for data streaming. TCP/UDP sockets can be used to access log data from the network (TCP/IP). But if the application runs locally on the same machine as the log daemon, Unix domain socket (UDS) may be the best option.
Unix Domain Socket is an inter-process communication mechanism that allows bidirectional data exchange between processes running on the same machine. Thus, UDSs can avoid some checks and operations (like routing); which makes them faster and lighter than IP sockets.
In this post, we will learn how to collect log data from syslog via UDS in C. We will use rsyslog as log daemon in this post.
A use case will be presented at the end of the post.
Working on my DIY robot software (Jarvis) in headless mode, i came across a situation where i needed to monitor the system resource such as CPU, battery, memory, network and temperature to measure the "greedy" of my robotic application. Furthermore, as the robot was battery powered, battery safety was a real concern, so i needed something to monitor the battery and shutdown the system when the battery was low to protect it from falling bellow the usable voltage range.
So i've searched for an application/service that allows me to:
None of existing applications/services satisfy all of these requirements, especially, the battery monitoring feature. So i've decided to write a small service that i called
sysmond is a simple service that monitors and collects system information such as battery, temperature, memory, CPU, and network usage. The service can be used as backend for applications that need to consult system status. Although it is a part of Jarvis ecosystem,
sysmond is a generic service and can be easily adapted to other use cases.
Sysmond monitors resource available on the system via the user space sysfs interface provided by the linux kernel.
[Update 27/03/2021]: The image is now available on docker hub at: https://hub.docker.com/r/xsangle/antosaio (image:
xsangle/antosaio:latest). This post has been updated with latest instruction on how to host a local instance of Antos VDE using docker.
More information on AntOS https://doc.iohub.dev/antos
The docker image provide out-of-the-box working AntOS system which consist of:
AntOS user can be created at creation of of the container, each user is attached to a separated container.
In a multi-users scenario, This mean that user working instance is completely isolated to other. Resource consumption such as CPU, storage and RAM of each instance is configurable.
When evaluating the performance of a SLAM algorithm, quantifying the produced map quality is one of the most important criteria. Often, the produced map is compared with (1) a ground-truth map (which can be easily obtained in simulation) or (2) with another existing map that is considered accurate (in case of real world experiment where the ground-truth is not always available ).
Basically, grid maps are images, so image similarity measurement metrics can be used in this case. In this post, we consider three different metrics: Mean Square Error (MSE), K-nearest based normalized error (NE) and Structure Similarity Index (SSIM)
When i developed this blog (using my own client-server platform such as web server, back-end, front-end, etc., built from ash/scratch :) ), i simply designed it as a simple "note book" where i put my ideas or some stuffs that i have done. So, initially, there are no category no advance feature like post suggestion based on current post, etc. It is just a bunch of posts sorting by date. The thing is, i usually work on many different domains (robotic, IoT, backend, frontend platform design, etc.), so my posts are mixed up between different categories. It is fine for me, but is a real inconvenience for readers who want to follow up their interesting category on the blog. Of course, i could redesign the blog and add the missing features by messing around with the relational database design (i'm using SQLite btw), manually classifying the posts in the back-end, etc. But, i'm a kind of lazy people, so i've been thinking of a more automatic solution. How about an automatic document clustering feature based on a data mining approach ? Here we go!
Some of my old posts show how to program the ARM Cortex M0 LPC chip in a bare metal manner, although this approach provides a simple setup that requires no additional libraries, it is only for the studying purpose. It is not a good options for production since your code will be highly platform dependent and you need to handle so many low level stuffs (e.g. registers configuration). The Newlib offers a more productive way by providing a standard C interface to abstract the development on such embedded system. In using Newlib, the code is a lot simpler and more portable.