sysmond: Simple service for (embedded) Linux system monitoring

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:

  • Monitor system memory, CPU, storage usage and temperature
  • Monitor network consumption
  • Monitor the robot battery and power off the system if the battery is low

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.

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.

https://doc.iohub.dev/jarvis/asset//c_2/s_5/jarvis_monitoring.png

Example of AntOS web application that fetches data from sysmond and visualize it as real-time graphs on my Jarvis robot system. Detail on the use case can be found here

Sysmond monitors resource available on the system via the user space sysfs interface provided by the linux kernel.

26/06/2020 docker, AntOS, image, container, API

Running your own AntOS VDE system using docker image

[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:

  • The web-server
  • AntOS server side API
  • AntOS client side API

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.

28/08/2018 ROS, SLAM, Metrics, evaluation, SSIM, MSE, NE

Evaluation of grid maps produced by a SLAM algorithm

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)

Simple (naive) document clustering using tf-idf and k-mean

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!

Programming LPC1114FN28 with standard C using Newlib

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.

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