From 006c3af3a946b0de8b7c143cc457b460e41ae2fd Mon Sep 17 00:00:00 2001
From: Bernardo-Gabriel <bernardo.gabriel@lsts.pt>
Date: Wed, 4 Sep 2024 17:15:07 +0100
Subject: [PATCH 1/2] Monitors/Uptime: added task to periodically read CPU
 uptime.

---
 src/Monitors/Uptime/Task.cmake |  0
 src/Monitors/Uptime/Task.cpp   | 94 ++++++++++++++++++++++++++++++++++
 2 files changed, 94 insertions(+)
 create mode 100644 src/Monitors/Uptime/Task.cmake
 create mode 100644 src/Monitors/Uptime/Task.cpp

diff --git a/src/Monitors/Uptime/Task.cmake b/src/Monitors/Uptime/Task.cmake
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/src/Monitors/Uptime/Task.cpp b/src/Monitors/Uptime/Task.cpp
new file mode 100644
index 0000000000..0c689ce257
--- /dev/null
+++ b/src/Monitors/Uptime/Task.cpp
@@ -0,0 +1,94 @@
+//***************************************************************************
+// Copyright 2007-2024 Universidade do Porto - Faculdade de Engenharia      *
+// Laboratório de Sistemas e Tecnologia Subaquática (LSTS)                  *
+//***************************************************************************
+// This file is part of DUNE: Unified Navigation Environment.               *
+//                                                                          *
+// Commercial Licence Usage                                                 *
+// Licencees holding valid commercial DUNE licences may use this file in    *
+// accordance with the commercial licence agreement provided with the       *
+// Software or, alternatively, in accordance with the terms contained in a  *
+// written agreement between you and Faculdade de Engenharia da             *
+// Universidade do Porto. For licensing terms, conditions, and further      *
+// information contact lsts@fe.up.pt.                                       *
+//                                                                          *
+// Modified European Union Public Licence - EUPL v.1.1 Usage                *
+// Alternatively, this file may be used under the terms of the Modified     *
+// EUPL, Version 1.1 only (the "Licence"), appearing in the file LICENCE.md *
+// included in the packaging of this file. You may not use this work        *
+// except in compliance with the Licence. Unless required by applicable     *
+// law or agreed to in writing, software distributed under the Licence is   *
+// distributed on an "AS IS" basis, WITHOUT WARRANTIES OR CONDITIONS OF     *
+// ANY KIND, either express or implied. See the Licence for the specific    *
+// language governing permissions and limitations at                        *
+// https://github.com/LSTS/dune/blob/master/LICENCE.md and                  *
+// http://ec.europa.eu/idabc/eupl.html.                                     *
+//***************************************************************************
+// Author: Bernardo Gabriel                                                 *
+//***************************************************************************
+
+// DUNE headers.
+#include <DUNE/DUNE.hpp>
+
+namespace Monitors
+{
+  //! Task to periodically read CPU uptime.
+  //!
+  //! @author Bernardo Gabriel
+  namespace Uptime
+  {
+    using DUNE_NAMESPACES;
+    
+    static const char c_file_name[13] = "/proc/uptime";
+
+    struct Task: public Tasks::Periodic
+    {
+      char m_message[64];
+
+      Task(const std::string& name, Tasks::Context& ctx):
+        Tasks::Periodic(name, ctx)
+      { }
+
+      void
+      checkUptime()
+      {
+        std::ifstream f(c_file_name);
+
+        if (f.is_open())
+        {
+          double sec;
+          f >> sec;
+          f.close();
+
+          int days = static_cast<int>(sec / 86400);
+          sec -= days * 86400;
+          int hours = static_cast<int>(sec / 3600);
+          sec -= hours * 3600;
+          int mins = static_cast<int>(sec / 60);
+          sec -= mins * 60;
+
+          std::memset(&m_message, '\0', sizeof(m_message));
+          sprintf(m_message, "active - %2dd:%02dh:%02dm:%02.0fs", days, hours, mins, sec);
+          setEntityState(IMC::EntityState::ESTA_NORMAL, Utils::String::str(DTR(m_message)));          
+        }
+        else
+          throw FileReadError(c_file_name);
+      }
+
+      void
+      task()
+      {
+        try
+        {
+          checkUptime();
+        }
+        catch(FileReadError& e)
+        {
+          spew("%s", DTR(e.what()));
+        }
+      }
+    };
+  }
+}
+
+DUNE_TASK

From 7defc380025b8155c57b5f9c28495ec72f3902e2 Mon Sep 17 00:00:00 2001
From: Bernardo-Gabriel <bernardo.gabriel@lsts.pt>
Date: Wed, 4 Sep 2024 17:15:41 +0100
Subject: [PATCH 2/2] Config: auv/monitors: added Uptime monitor.

---
 etc/auv/monitors.ini | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/etc/auv/monitors.ini b/etc/auv/monitors.ini
index ad8022d06e..ed3ee23c08 100644
--- a/etc/auv/monitors.ini
+++ b/etc/auv/monitors.ini
@@ -215,3 +215,8 @@ Entity Label - Current 0                = Servo Controller 0
 Entity Label - Current 1                = Servo Controller 1
 Entity Label - Current 2                = Servo Controller 2
 Entity Label - Current 3                = Servo Controller 3
+
+[Monitors.Uptime]
+Enabled                                 = Always
+Entity Label                            = CPU Uptime
+Debug Level                             = None
\ No newline at end of file