Monitor

Introduction

This module contains system level software such as code to check hardware status and monitor system health. In Apollo 5.5, the monitor module now performs the following checks among others:

1. Status of running modules
2. Monitoring data integrity
3. Monitoring data frequency
4. Monitoring system health (e.g. CPU, memory, disk usage, etc)
5. Generating end-to-end latency stats report

Note: You can configure the modules that you would like to monitor for the first 3 capabilities mentioned above.

Directory Structure

modules/monitor/
├── BUILD
├── common              // common function
├── cyberfile.xml
├── dag
├── hardware            // hardware monitor implementation
├── launch
├── monitor.cc
├── monitor.h
├── README.md
└── software            // software monitor implementation 

Hardware Monitors

Hardware related monitoring, e.g. CAN card / GPS status health check. Check results are reported back to HMI.

Software Monitors

Process Monitor

It checks if a process is running or not. Config it with apollo::monitor::ProcessConf proto, which works similar to

ps aux | grep <keyword1> | grep <keyword2> | ...

Topic Monitor

It checks if a given topic is updated normally. Config it with apollo::monitor::TopicConf proto.

Summary Monitor

It summarizes all other specific monitor's results to a simple conclusion such as OK, WARN, ERROR or FATAL.

How to Launch

cyber_launch start modules/monitor/launch/monitor.launch