feat: add metrics publisher for NT

photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java

@@ -18,12 +18,14 @@
 package org.photonvision.common.dataflow.networktables;
 
 import edu.wpi.first.apriltag.AprilTagFieldLayout;
+import edu.wpi.first.cscore.CameraServerJNI;
 import edu.wpi.first.networktables.LogMessage;
 import edu.wpi.first.networktables.MultiSubscriber;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableEvent;
 import edu.wpi.first.networktables.NetworkTableEvent.Kind;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.networktables.ProtobufPublisher;
 import edu.wpi.first.networktables.StringSubscriber;
 import edu.wpi.first.wpilibj.Alert;
 import edu.wpi.first.wpilibj.Alert.AlertType;
@@ -40,6 +42,7 @@
 import org.photonvision.common.dataflow.events.OutgoingUIEvent;
 import org.photonvision.common.dataflow.websocket.UIPhotonConfiguration;
 import org.photonvision.common.hardware.HardwareManager;
+import org.photonvision.common.hardware.metrics.DeviceMetrics;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.LogLevel;
 import org.photonvision.common.logging.Logger;
@@ -73,6 +76,12 @@ public class NetworkTablesManager {
     private StringSubscriber m_fieldLayoutSubscriber =
             kRootTable.getStringTopic(kFieldLayoutName).subscribe("");
 
+    ProtobufPublisher<DeviceMetrics> metricPublisher =
+            kRootTable
+                    .getSubTable("/" + kCoprocTableName + "/metrics")
+                    .getProtobufTopic(CameraServerJNI.getHostname(), DeviceMetrics.proto)
+                    .publish();
+
     private final TimeSyncManager m_timeSync = new TimeSyncManager(kRootTable);
 
     NTDriverStation ntDriverStation;
@@ -227,6 +236,10 @@ private void broadcastVersion() {
         kRootTable.getEntry("buildDate").setString(PhotonVersion.buildDate);
     }
 
+    private void broadcastMetrics() {
+        metricPublisher.set(HardwareManager.getInstance().getMetrics());
+    }
+
     /**
      * Publishes the hostname and camera names to a table using the MAC address as a key. Then checks
      * for conflicts of hostname or camera names across other coprocessors that are also publishing to
@@ -376,6 +389,8 @@ private void ntTick() {
             logger.error(
                     "[NetworkTablesManager] Could not connect to the robot! Will retry in the background...");
         }
+
+        broadcastMetrics();
     }
 
     public long getTimeSinceLastPong() {

photon-core/src/main/java/org/photonvision/common/hardware/HardwareManager.java

@@ -29,6 +29,7 @@
 import org.photonvision.common.dataflow.networktables.NetworkTablesManager;
 import org.photonvision.common.hardware.GPIO.CustomGPIO;
 import org.photonvision.common.hardware.GPIO.pi.PigpioSocket;
+import org.photonvision.common.hardware.metrics.DeviceMetrics;
 import org.photonvision.common.hardware.metrics.MetricsManager;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
@@ -229,4 +230,8 @@ public HardwareConfig getConfig() {
     public void publishMetrics() {
         metricsManager.publishMetrics();
     }
+
+    public DeviceMetrics getMetrics() {
+        return metricsManager.getMetrics();
+    }
 }

photon-core/src/main/java/org/photonvision/common/hardware/metrics/DeviceMetrics.java

@@ -0,0 +1,35 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.hardware.metrics;
+
+import org.photonvision.common.hardware.metrics.proto.DeviceMetricsProto;
+
+public record DeviceMetrics(
+        String cpuTemp,
+        String cpuUtil,
+        String cpuMem,
+        String cpuThr,
+        String cpuUptime,
+        String gpuMem,
+        String ramUtil,
+        String gpuMemUtil,
+        String diskUtilPct,
+        String npuUsage,
+        String ipAddress) {
+    public static final DeviceMetricsProto proto = new DeviceMetricsProto();
+}

photon-core/src/main/java/org/photonvision/common/hardware/metrics/MetricsManager.java

@@ -19,7 +19,6 @@
 
 import java.io.PrintWriter;
 import java.io.StringWriter;
-import java.util.HashMap;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.configuration.HardwareConfig;
 import org.photonvision.common.dataflow.DataChangeService;
@@ -129,21 +128,24 @@ public String getIpAddress() {
         return addr;
     }
 
+    public DeviceMetrics getMetrics() {
+        return new DeviceMetrics(
+                this.getTemp(),
+                this.getUtilization(),
+                this.getMemory(),
+                this.getThrottleReason(),
+                this.getUptime(),
+                this.getGPUMemorySplit(),
+                this.getUsedRam(),
+                this.getMallocedMemory(),
+                this.getUsedDiskPct(),
+                this.getNpuUsage(),
+                this.getIpAddress());
+    }
+
     public void publishMetrics() {
         logger.debug("Publishing Metrics...");
-        final var metrics = new HashMap<String, String>();
-
-        metrics.put("cpuTemp", this.getTemp());
-        metrics.put("cpuUtil", this.getUtilization());
-        metrics.put("cpuMem", this.getMemory());
-        metrics.put("cpuThr", this.getThrottleReason());
-        metrics.put("cpuUptime", this.getUptime());
-        metrics.put("gpuMem", this.getGPUMemorySplit());
-        metrics.put("ramUtil", this.getUsedRam());
-        metrics.put("gpuMemUtil", this.getMallocedMemory());
-        metrics.put("diskUtilPct", this.getUsedDiskPct());
-        metrics.put("npuUsage", this.getNpuUsage());
-        metrics.put("ipAddress", this.getIpAddress());
+        var metrics = getMetrics();
 
         DataChangeService.getInstance().publishEvent(OutgoingUIEvent.wrappedOf("metrics", metrics));
     }

photon-core/src/main/java/org/photonvision/common/hardware/metrics/proto/DeviceMetricsProto.java

@@ -0,0 +1,71 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.hardware.metrics.proto;
+
+import edu.wpi.first.util.protobuf.Protobuf;
+import org.photonvision.common.hardware.metrics.DeviceMetrics;
+import org.photonvision.proto.Photon.ProtobufDeviceMetrics;
+import us.hebi.quickbuf.Descriptors.Descriptor;
+
+public class DeviceMetricsProto implements Protobuf<DeviceMetrics, ProtobufDeviceMetrics> {
+    @Override
+    public Class<DeviceMetrics> getTypeClass() {
+        return DeviceMetrics.class;
+    }
+
+    @Override
+    public Descriptor getDescriptor() {
+        return ProtobufDeviceMetrics.getDescriptor();
+    }
+
+    @Override
+    public ProtobufDeviceMetrics createMessage() {
+        return ProtobufDeviceMetrics.newInstance();
+    }
+
+    @Override
+    public DeviceMetrics unpack(ProtobufDeviceMetrics msg) {
+        return new DeviceMetrics(
+                msg.getCpuTemp(),
+                msg.getCpuUtil(),
+                msg.getCpuMem(),
+                msg.getCpuThr(),
+                msg.getCpuUptime(),
+                msg.getGpuMem(),
+                msg.getRamUtil(),
+                msg.getGpuMemUtil(),
+                msg.getDiskUtilPct(),
+                msg.getNpuUsage(),
+                msg.getIpAddress());
+    }
+
+    @Override
+    public void pack(ProtobufDeviceMetrics msg, DeviceMetrics value) {
+        msg.setCpuTemp(value.cpuTemp());
+        msg.setCpuUtil(value.cpuUtil());
+        msg.setCpuMem(value.cpuMem());
+        msg.setCpuThr(value.cpuThr());
+        msg.setCpuUptime(value.cpuUptime());
+        msg.setGpuMem(value.gpuMem());
+        msg.setRamUtil(value.ramUtil());
+        msg.setGpuMemUtil(value.gpuMemUtil());
+        msg.setDiskUtilPct(value.diskUtilPct());
+        msg.setNpuUsage(value.npuUsage());
+        msg.setIpAddress(value.ipAddress());
+    }
+}

photon-targeting/src/main/proto/photon.proto

@@ -68,3 +68,17 @@ message ProtobufPhotonPipelineResult {
   int64 nt_publish_timestamp_micros = 6;
   int64 time_since_last_pong_micros = 7;
 }
+
+message ProtobufDeviceMetrics {
+  string cpu_temp = 1;
+  string cpu_util = 2;
+  string cpu_mem = 3;
+  string cpu_thr = 4;
+  string cpu_uptime = 5;
+  string gpu_mem = 6;
+  string ram_util = 7;
+  string gpu_mem_util = 8;
+  string disk_util_pct = 9;
+  string npu_usage = 10;
+  string ip_address = 11;
+}