add support for rubik npu metrics

photon-client/src/components/settings/DeviceCard.vue

@@ -202,6 +202,20 @@ const generalMetrics = computed<MetricItem[]>(() => {
   return stats;
 });
 
+function mapToString(map: Map<string, number>): string {
+  let result = "";
+  let comma = false;
+  for (const [key, value] of map.entries()) {
+    if (comma) {
+      result += ", ";
+    } else {
+      comma = true;
+    }
+    result += `${key}: ${value}`;
+  }
+  return result;
+}
+
 // @ts-expect-error This uses Intl.DurationFormat which is newly implemented and not available in TS.
 const durationFormatter = new Intl.DurationFormat("en", { style: "narrow" });
 const platformMetrics = computed<MetricItem[]>(() => {
@@ -228,10 +242,10 @@ const platformMetrics = computed<MetricItem[]>(() => {
     }
   ];
 
-  if (metrics.npuUsage && metrics.npuUsage.length > 0) {
+  if (metrics.npuUsage && metrics.npuUsage.size > 0) {
     stats.push({
       header: "NPU Usage",
-      value: metrics.npuUsage?.map((usage, index) => `Core${index} ${usage}%`).join(", ") || "Unknown"
+      value: mapToString(metrics?.npuUsage) || "Unknown"
     });
   }
 

photon-client/src/stores/settings/GeneralSettingsStore.ts

@@ -135,6 +135,11 @@ export const useSettingsStore = defineStore("settings", {
   },
   actions: {
     updateMetricsFromWebsocket(data: Required<MetricData>) {
+      const npuUsage =
+        data.npuUsage instanceof Map
+          ? new Map(data.npuUsage)
+          : new Map(Object.entries(data.npuUsage as Record<string, number>));
+
       this.metrics = {
         cpuTemp: data.cpuTemp || undefined,
         cpuUtil: data.cpuUtil || undefined,
@@ -145,7 +150,7 @@ export const useSettingsStore = defineStore("settings", {
         gpuMemUtil: data.gpuMemUtil || undefined,
         diskUtilPct: data.diskUtilPct || undefined,
         diskUsableSpace: data.diskUsableSpace || undefined,
-        npuUsage: data.npuUsage || undefined,
+        npuUsage,
         ipAddress: data.ipAddress || undefined,
         uptime: data.uptime || undefined,
         sentBitRate: data.sentBitRate || undefined,

photon-client/src/types/SettingTypes.ts

@@ -37,7 +37,7 @@ export interface MetricData {
   gpuMemUtil?: number;
   diskUtilPct?: number;
   diskUsableSpace?: number;
-  npuUsage?: number[];
+  npuUsage?: Map<string, number>;
   ipAddress?: string;
   uptime?: number;
   sentBitRate?: number;

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

@@ -18,6 +18,7 @@
 package org.photonvision.common.hardware.metrics;
 
 import io.avaje.jsonb.Json;
+import java.util.Map;
 import org.photonvision.common.hardware.metrics.proto.DeviceMetricsProto;
 
 @Json
@@ -31,7 +32,7 @@ public record DeviceMetrics(
         double gpuMemUtil,
         double diskUtilPct,
         double diskUsableSpace,
-        double[] npuUsage,
+        Map<String, Double> npuUsage,
         String ipAddress,
         double uptime,
         double sentBitRate,

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

@@ -22,6 +22,8 @@
 import java.nio.file.Files;
 import java.nio.file.Path;
 import java.util.Arrays;
+import java.util.HashMap;
+import java.util.Map;
 import java.util.function.Supplier;
 import java.util.stream.Collectors;
 import org.photonvision.common.configuration.ConfigManager;
@@ -83,7 +85,7 @@ private record NetworkTraffic(double sentBitRate, double recvBitRate) {}
 
     // Set this to true to enable logging the contents of the DeviceMetrics class that is sent to NT
     // and the UI.
-    public boolean writeMetricsToLog = false;
+    public boolean writeMetricsToLog = true;
 
     private final String taskName = "SystemMonitorPublisher";
     private final double minimumDeltaTime = 0.250; // seconds
@@ -223,7 +225,9 @@ private void logMetrics(DeviceMetrics metrics) {
         sb.append(String.format("System Uptime: %.0f, ", metrics.uptime()));
         sb.append(String.format("CPU Usage: %.2f%%, ", metrics.cpuUtil()));
         sb.append(String.format("CPU Temperature: %.2f °C, ", metrics.cpuTemp()));
-        sb.append(String.format("NPU Usage: %s, ", Arrays.toString(metrics.npuUsage())));
+        if (!metrics.npuUsage().isEmpty()) {
+            sb.append(String.format("NPU Usage: %s, ", metrics.npuUsage().toString()));
+        }
         sb.append(String.format("Used Disk: %.2f%%, ", metrics.diskUtilPct()));
         sb.append(String.format("Usable Disk Space: %.0f MiB, ", metrics.diskUsableSpace() / mebi));
         sb.append(String.format("Memory: %.0f / %.0f MiB, ", metrics.ramUtil(), metrics.ramMem()));
@@ -430,10 +434,10 @@ public synchronized double getCpuUsage() {
      * Returns the npu usage, if available. Platforms with NPUs will need to override this method to
      * return a useful value.
      *
-     * @return the NPU usage or an empty array if not available.
+     * @return the NPU usage or an empty map if not available.
      */
-    public double[] getNpuUsage() {
-        return new double[0];
+    public Map<String, Double> getNpuUsage() {
+        return new HashMap<>();
     }
 
     /**
@@ -518,7 +522,7 @@ private void testSM() {
         total += timeIt(sb, () -> String.format("System Uptime: %d", getUptime()));
         total += timeIt(sb, () -> String.format("CPU Usage: %.2f%%", getCpuUsage()));
         total += timeIt(sb, () -> String.format("CPU Temperature: %.2f °C", getCpuTemperature()));
-        total += timeIt(sb, () -> String.format("NPU Usage: %s", Arrays.toString(getNpuUsage())));
+        total += timeIt(sb, () -> String.format("NPU Usage: %s", getNpuUsage().toString()));
         total += timeIt(sb, () -> String.format("Used Disk: %.2f%%", getUsedDiskPct()));
         total +=
                 timeIt(

photon-core/src/main/java/org/photonvision/common/hardware/metrics/SystemMonitorQCS6490.java

@@ -17,9 +17,36 @@
 
 package org.photonvision.common.hardware.metrics;
 
+import java.io.IOException;
+import java.nio.file.Files;
+import java.nio.file.Path;
+import java.util.Arrays;
+import java.util.HashMap;
+import java.util.Map;
+
 public class SystemMonitorQCS6490 extends SystemMonitor {
     @Override
     protected String getThermalZoneTypes() {
         return "cpu0-thermal";
     }
+
+    @Override
+    public Map<String, Double> getNpuUsage() {
+        try {
+            var contents = Files.readString(Path.of("/tmp/qcnpuperf_stats"));
+            Map<String, Double> map = new HashMap<>();
+            Arrays.stream(contents.split("\n"))
+                    .filter(line -> !line.trim().isEmpty())
+                    .forEach(
+                            line -> {
+                                String[] parts = line.split("=");
+                                if (parts.length == 2) {
+                                    map.put(parts[0].trim(), Double.parseDouble(parts[1].trim()));
+                                }
+                            });
+            return map;
+        } catch (IOException e) {
+            return new HashMap<>();
+        }
+    }
 }

photon-core/src/main/java/org/photonvision/common/hardware/metrics/SystemMonitorRK3588.java

@@ -20,6 +20,8 @@
 import java.io.IOException;
 import java.nio.file.Files;
 import java.nio.file.Path;
+import java.util.HashMap;
+import java.util.Map;
 import java.util.regex.Matcher;
 import java.util.regex.Pattern;
 
@@ -51,15 +53,19 @@ protected String getThermalZoneTypes() {
     }
 
     @Override
-    public double[] getNpuUsage() {
+    public Map<String, Double> getNpuUsage() {
         try {
             var contents = Files.readString(Path.of("/sys/kernel/debug/rknpu/load"));
             Matcher matcher = pattern.matcher(contents);
             double[] results =
                     matcher.results().map(mr -> mr.group(1)).mapToDouble(Double::parseDouble).toArray();
-            return results;
+            Map<String, Double> map = new HashMap<>();
+            for (int i = 0; i < results.length; i++) {
+                map.put("core " + i, results[i]);
+            }
+            return map;
         } catch (IOException e) {
-            return new double[0];
+            return new HashMap<>();
         }
     }
 }

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

@@ -17,6 +17,8 @@
 
 package org.photonvision.common.hardware.metrics.proto;
 
+import java.util.HashMap;
+import java.util.Map;
 import org.photonvision.common.hardware.metrics.DeviceMetrics;
 import org.photonvision.proto.Photon.ProtobufDeviceMetrics;
 import org.wpilib.util.protobuf.Protobuf;
@@ -50,7 +52,7 @@ public DeviceMetrics unpack(ProtobufDeviceMetrics msg) {
                 msg.getGpuMemUtil(),
                 msg.getDiskUtilPct(),
                 msg.getDiskUsableSpace(),
-                msg.getNpuUsage().toArray(),
+                convertNpuUsage(msg.getNpuUsage()),
                 msg.getIpAddress(),
                 msg.getUptime(),
                 msg.getSentBitRate(),
@@ -69,9 +71,23 @@ public void pack(ProtobufDeviceMetrics msg, DeviceMetrics value) {
         msg.setGpuMemUtil(value.gpuMemUtil());
         msg.setDiskUtilPct(value.diskUtilPct());
         msg.setDiskUsableSpace(value.diskUsableSpace());
-        msg.addAllNpuUsage(value.npuUsage());
+        for (var entry : value.npuUsage().entrySet()) {
+            msg.addNpuUsage(
+                    ProtobufDeviceMetrics.NpuUsageEntry.newInstance()
+                            .setKey(entry.getKey())
+                            .setValue(entry.getValue()));
+        }
         msg.setIpAddress(value.ipAddress());
         msg.setSentBitRate(value.sentBitRate());
         msg.setRecvBitRate(value.recvBitRate());
     }
+
+    private static Map<String, Double> convertNpuUsage(
+            us.hebi.quickbuf.RepeatedMessage<? extends ProtobufDeviceMetrics.NpuUsageEntry> entries) {
+        var map = new HashMap<String, Double>();
+        for (var entry : entries) {
+            map.put(entry.getKey(), entry.getValue());
+        }
+        return map;
+    }
 }

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

@@ -78,7 +78,7 @@ message ProtobufDeviceMetrics {
   double gpu_mem = 6;
   double gpu_mem_util = 7;
   double disk_util_pct = 8;
-  repeated double npu_usage = 9;
+  map<string, double> npu_usage = 9;
   string ip_address = 10;
   double uptime = 11;
   double sent_bit_rate = 12;