From 98d99566bb64ce3c1198340a08f90d0975ceba53 Mon Sep 17 00:00:00 2001
From: Hannes Richardt <hannes-richardt@gmx.de>
Date: Thu, 14 Nov 2024 19:38:26 +0100
Subject: [PATCH] add comments and fix return when no gpu is found

---
 bitbots_misc/system_monitor/system_monitor/cpus.py | 5 +++--
 bitbots_misc/system_monitor/system_monitor/gpu.py  | 9 +++++++--
 bitbots_msgs/msg/Workload.msg                      | 2 +-
 3 files changed, 11 insertions(+), 5 deletions(-)

diff --git a/bitbots_misc/system_monitor/system_monitor/cpus.py b/bitbots_misc/system_monitor/system_monitor/cpus.py
index 391a3a2b0..cb933e686 100644
--- a/bitbots_misc/system_monitor/system_monitor/cpus.py
+++ b/bitbots_misc/system_monitor/system_monitor/cpus.py
@@ -36,7 +36,8 @@ def collect_all():
 def _get_cpu_stats():
     """
     read and parse /proc/stat
-    :returns timings which contains accumulative busy and total cpu time
+
+    :returns: timings which contains accumulative busy and total cpu time
     """
     timings = {}
     with open("/proc/stat") as file_obj:
@@ -51,7 +52,7 @@ def _get_cpu_stats():
 
 def _calculate_usage(cpu_num, total, busy):
     """
-    calculate usage percentage based on busy/total time
+    calculate usage percentage based on busy/total time(load, vram_used, vram_total, temperature)
     """
     diff_total = total - _prev_total[cpu_num]
     diff_busy = busy - _prev_busy[cpu_num]
diff --git a/bitbots_misc/system_monitor/system_monitor/gpu.py b/bitbots_misc/system_monitor/system_monitor/gpu.py
index 64ea77e3e..2f440c031 100644
--- a/bitbots_misc/system_monitor/system_monitor/gpu.py
+++ b/bitbots_misc/system_monitor/system_monitor/gpu.py
@@ -2,13 +2,18 @@
 
 
 def collect_all():
+    """
+    use pyamdgpuinfo to get gpu metrics
+
+    :return: (load, vram_used, vram_total, temperature)
+    """
     if pyamdgpuinfo.detect_gpus() == 0:
-        return 0
+        return (0, 0, 0, 0)
 
     gpu = pyamdgpuinfo.get_gpu(0)
     load = gpu.query_load()
     vram_total = gpu.memory_info["vram_size"]
     vram_used = gpu.query_vram_usage()
-    temperature = int(gpu.query_temperature())
+    temperature = gpu.query_temperature()
 
     return (load, vram_used, vram_total, temperature)
diff --git a/bitbots_msgs/msg/Workload.msg b/bitbots_msgs/msg/Workload.msg
index 0dffaea0f..cdde1e0bf 100644
--- a/bitbots_msgs/msg/Workload.msg
+++ b/bitbots_msgs/msg/Workload.msg
@@ -7,7 +7,7 @@ float32 cpu_usage_overall
 float32 gpu_load
 int64 gpu_vram_used
 int64 gpu_vram_total
-int32 gpu_temperature
+float32 gpu_temperature
 
 int64 memory_available
 int64 memory_used