• Apollo 应用与源码分析：Monitor监控-软件监控-定位、camera、功能安全、数据记录监控

    目录

    定位监控

    代码

    分析

    备注

    camera监控

    代码

    分析

    功能安全监控

    代码

    分析

    CheckSafty函数分析

    RunOnce 函数分析

    记录功能监控

    代码

    分析

    SmartRecorderStatus proto

    状态的上报位置分析

    监控信息汇总服务

    代码

    分析

    定位监控

    代码

    1. class LocalizationMonitor : public RecurrentRunner {
    2.  public:
    3.   LocalizationMonitor();
    4.   void RunOnce(const double current_time) override;
    5. };
    6.  
    7. void LocalizationMonitor::RunOnce(const double current_time) {
    8.   auto manager = MonitorManager::Instance();
    9.   auto* component = apollo::common::util::FindOrNull(
    10.       *manager->GetStatus()->mutable_components(),
    11.       FLAGS_localization_component_name);
    12.   if (component == nullptr) {
    13.     // localization is not monitored in current mode, skip.
    14.     return;
    15.   }
    16.  
    17.   static auto reader =
    18.       manager->CreateReader(FLAGS_localization_msf_status);
    19.   reader->Observe();
    20.   const auto status = reader->GetLatestObserved();
    21.  
    22.   ComponentStatus* component_status = component->mutable_other_status();
    23.   component_status->clear_status();
    24.   if (status == nullptr) {
    25.     SummaryMonitor::EscalateStatus(ComponentStatus::ERROR,
    26.                                    "No LocalizationStatus received",
    27.                                    component_status);
    28.     return;
    29.   }
    30.  
    31.   // Translate LocalizationStatus to ComponentStatus. Note that ERROR and FATAL
    32.   // will trigger safety mode in current settings.
    33.   switch (status->fusion_status()) {
    34.     case MeasureState::OK:
    35.       SummaryMonitor::EscalateStatus(ComponentStatus::OK, "", component_status);
    36.       break;
    37.     case MeasureState::WARNNING:
    38.       SummaryMonitor::EscalateStatus(
    39.           ComponentStatus::WARN,
    40.           absl::StrCat("WARNNING: ", status->state_message()),
    41.           component_status);
    42.       break;
    43.     case MeasureState::ERROR:
    44.       SummaryMonitor::EscalateStatus(
    45.           ComponentStatus::WARN,
    46.           absl::StrCat("ERROR: ", status->state_message()), component_status);
    47.       break;
    48.     case MeasureState::CRITICAL_ERROR:
    49.       SummaryMonitor::EscalateStatus(
    50.           ComponentStatus::ERROR,
    51.           absl::StrCat("CRITICAL_ERROR: ", status->state_message()),
    52.           component_status);
    53.       break;
    54.     case MeasureState::FATAL_ERROR:
    55.       SummaryMonitor::EscalateStatus(
    56.           ComponentStatus::FATAL,
    57.           absl::StrCat("FATAL_ERROR: ", status->state_message()),
    58.           component_status);
    59.       break;
    60.     default:
    61.       AFATAL << "Unknown fusion_status: " << status->fusion_status();
    62.       break;
    63.   }
    64. }

    分析

    1. 判断定位模块是不是属于被监控的模块
    2. 订阅localization_msf_status，如果读不到就报ERROR级别的故障
    3. 直接判断topic 中的状态信息，根据状态报对应故障

    备注

    ## Check MSF Localization Status We provide a simple way to check lidar localization, GNSS localization and fusion localization status. There are four states {NOT_VALID, NOT_STABLE, OK, VALID} for localization status. You can simply use `rostopic echo /apollo/localization/msf_status` to check localization status. If fusion_status is VALID or OK, the output of msf localization is reliable.

    上述是apollo MSF 定位状态的判断逻辑，上述故障都是由业务模块定位部分设置并发出的。

    下面是modules/localization/rtk/rtk_localization.cc的状态检测部分

    1. void RTKLocalization::FillLocalizationStatusMsg(
    2.     const drivers::gnss::InsStat &status,
    3.     LocalizationStatus *localization_status) {
    4.   apollo::common::Header *header = localization_status->mutable_header();
    5.   double timestamp = apollo::cyber::Clock::NowInSeconds();
    6.   header->set_timestamp_sec(timestamp);
    7.   localization_status->set_measurement_time(status.header().timestamp_sec());
    8.  
    9.   if (!status.has_pos_type()) {
    10.     localization_status->set_fusion_status(MeasureState::ERROR);
    11.     localization_status->set_state_message(
    12.         "Error: Current Localization Status Is Missing.");
    13.     return;
    14.   }

    camera监控

    代码

    1. class CameraMonitor : public RecurrentRunner {
    2.  public:
    3.   CameraMonitor();
    4.   void RunOnce(const double current_time) override;
    5.  
    6.  private:
    7.   static void UpdateStatus(ComponentStatus* status);
    8. };
    9. void CameraMonitor::RunOnce(const double current_time) {
    10.   auto* manager = MonitorManager::Instance();
    11.   auto* component = apollo::common::util::FindOrNull(
    12.       *manager->GetStatus()->mutable_components(), FLAGS_camera_component_name);
    13.   if (component == nullptr) {
    14.     // camera is not monitored in current mode, skip.
    15.     return;
    16.   }
    17.   auto* status = component->mutable_other_status();
    18.   UpdateStatus(status);
    19. }

    分析

    除了判断camera是不是被配置为监控配置之外核心函数在UpdateStatus 中

    1. void CameraMonitor::UpdateStatus(ComponentStatus* status) {
    2.   status->clear_status();
    3.   std::string frame_id = "";
    4.   for (const auto& topic : camera_topic_set) {
    5.     const auto& reader_message_pair = CreateReaderAndLatestsMessage(topic);
    6.     const auto& reader = reader_message_pair.first;
    7.     const auto& message = reader_message_pair.second;
    8.     if (reader != nullptr && message != nullptr) {
    9.       if (frame_id.empty()) {
    10.         const auto& header = message->header();
    11.         if (header.has_frame_id()) {
    12.           frame_id = header.frame_id();
    13.         }
    14.       } else {
    15.         SummaryMonitor::EscalateStatus(
    16.             ComponentStatus::ERROR,
    17.             absl::StrCat("Only one camera is permitted"), status);
    18.       }
    19.     }
    20.   }
    21.   if (frame_id.empty()) {
    22.     SummaryMonitor::EscalateStatus(
    23.         ComponentStatus::ERROR, absl::StrCat("No camera is detected"), status);
    24.   } else {
    25.     SummaryMonitor::EscalateStatus(
    26.         ComponentStatus::OK, absl::StrCat("Detected one camera: ", frame_id),
    27.         status);
    28.   }
    29. }
    1. static const auto camera_topic_set = std::set{
    2.     FLAGS_image_long_topic,         FLAGS_camera_image_long_topic,
    3.     FLAGS_camera_image_short_topic, FLAGS_camera_front_6mm_topic,
    4.     FLAGS_camera_front_6mm_2_topic, FLAGS_camera_front_12mm_topic,
    5.     // Add more cameras here if you want to monitor.
    6. };
    1. 获取最新的消息
    2. 获取消息头，拿到frame id，如果有两组frame id就报ERROR
    absl::StrCat("Only one camera is permitted"), status);

      如果frame id 是 empty，就报ERROR

    ComponentStatus::ERROR, absl::StrCat("No camera is detected"), status);

    功能安全监控

    代码

    1. // Check if we need to switch to safe mode, and then
    2. // 1. Notify driver to take action.
    3. // 2. Trigger Guardian if no proper action was taken.
    4. class FunctionalSafetyMonitor : public RecurrentRunner {
    5.  public:
    6.   FunctionalSafetyMonitor();
    7.   void RunOnce(const double current_time);
    8.  
    9.  private:
    10.   bool CheckSafety();
    11. };
    12. void FunctionalSafetyMonitor::RunOnce(const double current_time) {
    13.   auto* system_status = MonitorManager::Instance()->GetStatus();
    14.   // Everything looks good or has been handled properly.
    15.   if (CheckSafety()) {
    16.     system_status->clear_passenger_msg();
    17.     system_status->clear_safety_mode_trigger_time();
    18.     system_status->clear_require_emergency_stop();
    19.     return;
    20.   }
    21.   if (system_status->require_emergency_stop()) {
    22.     // EStop has already been triggered.
    23.     return;
    24.   }
    25.  
    26.   // Newly entered safety mode.
    27.   system_status->set_passenger_msg("Error! Please disengage.");
    28.   if (!system_status->has_safety_mode_trigger_time()) {
    29.     system_status->set_safety_mode_trigger_time(current_time);
    30.     return;
    31.   }
    32.  
    33.   // Trigger EStop if no action was taken in time.
    34.   if (system_status->safety_mode_trigger_time() +
    35.           FLAGS_safety_mode_seconds_before_estop <
    36.       current_time) {
    37.     system_status->set_require_emergency_stop(true);
    38.   }
    39. }

    分析

    CheckSafty函数分析

    1. bool FunctionalSafetyMonitor::CheckSafety() {
    2.   // We only check safety in self driving mode.
    3.   auto manager = MonitorManager::Instance();
    4.   if (!manager->IsInAutonomousMode()) {
    5.     return true;
    6.   }
    7.  
    8.   // Check HMI modules status.
    9.   const auto& mode = manager->GetHMIMode();
    10.   const auto& hmi_modules = manager->GetStatus()->hmi_modules();
    11.   for (const auto& iter : mode.modules()) {
    12.     const std::string& module_name = iter.first;
    13.     const auto& module = iter.second;
    14.     if (module.required_for_safety() &&
    15.         !IsSafe(module_name, hmi_modules.at(module_name))) {
    16.       return false;
    17.     }
    18.   }
    19.  
    20.   // Check monitored components status.
    21.   const auto& components = manager->GetStatus()->components();
    22.   for (const auto& iter : mode.monitored_components()) {
    23.     const std::string& component_name = iter.first;
    24.     const auto& component = iter.second;
    25.     if (component.required_for_safety() &&
    26.         !IsSafe(component_name, components.at(component_name).summary())) {
    27.       return false;
    28.     }
    29.   }
    30.  
    31.   // Everything looks good.
    32.   return true;
    33. }
    1. 判断是不是在自动驾驶模式下，如果不是直接跳出
    2. 检查所有被监控的组件状态是不是ERROR或者FATAL
    3. 如果是就是不安全，如果不是就是安全

    RunOnce 函数分析

    1. 检查现在的安全状态
    2. 如果安全就清空之前的状态信息并返回
    3. 如果不安全就判断是不是已经调用了安全处置措施：EStop，如果Estop已经在工作了就返回
    4. 如果发现ESTOP还没有开始工作就检查trigger 安全处置ESTOP 的时间，如果没有超时就等待

    记录功能监控

    recorder monitor 是对于是apollo 对于记录服务的监控，方法是通过订阅/apollo/data/recorder/status 这个topic 获取Recorder status。

    代码

    1. class RecorderMonitor : public RecurrentRunner {
    2.  public:
    3.   RecorderMonitor();
    4.   void RunOnce(const double current_time) override;
    5. };
    6.  
    7. void RecorderMonitor::RunOnce(const double current_time) {
    8.   auto manager = MonitorManager::Instance();
    9.   auto* component = apollo::common::util::FindOrNull(
    10.       *manager->GetStatus()->mutable_components(),
    11.       FLAGS_smart_recorder_component_name);
    12.   if (component == nullptr) {
    13.     // SmartRecorder is not monitored in current mode, skip.
    14.     return;
    15.   }
    16.  
    17.   static auto reader =
    18.       manager->CreateReader(FLAGS_recorder_status_topic);
    19.   reader->Observe();
    20.   const auto status = reader->GetLatestObserved();
    21.  
    22.   ComponentStatus* component_status = component->mutable_other_status();
    23.   component_status->clear_status();
    24.   if (status == nullptr) {
    25.     SummaryMonitor::EscalateStatus(ComponentStatus::ERROR,
    26.                                    "No SmartRecorderStatus received",
    27.                                    component_status);
    28.     return;
    29.   }
    30.  
    31.   // Translate SmartRecorderStatus to ComponentStatus. Note that ERROR and FATAL
    32.   // will trigger safety mode in current settings.
    33.   switch (status->recording_state()) {
    34.     case RecordingState::RECORDING:
    35.       SummaryMonitor::EscalateStatus(ComponentStatus::OK, "", component_status);
    36.       break;
    37.     case RecordingState::TERMINATING:
    38.       SummaryMonitor::EscalateStatus(
    39.           ComponentStatus::WARN,
    40.           absl::StrCat("WARNNING: ", status->state_message()),
    41.           component_status);
    42.       break;
    43.     case RecordingState::STOPPED:
    44.       SummaryMonitor::EscalateStatus(
    45.           ComponentStatus::OK,
    46.           absl::StrCat("STOPPED: ", status->state_message()), component_status);
    47.       break;
    48.     default:
    49.       AFATAL << "Unknown recording status: " << status->recording_state();
    50.       break;
    51.   }
    52. }

    分析

    第一步依旧是判断recorder 是不是被配置的监控模块，如果不是直接返回。

    然后就是直接判断status->recording_state()，如果是RecordingState::TERMINATING（终止）状态就报出一个WARNING 的故障

    SmartRecorderStatus proto

    1. enum RecordingState {
    2.   STOPPED = 0;
    3.   RECORDING = 1;
    4.   TERMINATING = 2;
    5. }
    6.  
    7. message SmartRecorderStatus {
    8.   optional apollo.common.Header header = 1;
    9.   optional RecordingState recording_state = 2;
    10.   optional string state_message = 3;
    11. }

    状态的上报位置分析

    modules/data/tools/smart_recorder/realtime_record_processor.cc

    我们可以在上述文件中找到recorder状态赋值情况，但是可惜apollo 中目前没有一个模块会主动填写RecordingState::TERMINATING（终止）状态。

    监控信息汇总服务

    代码

    1. // A monitor which summarize other monitors' result and publish the whole status
    2. // if it has changed.
    3. class SummaryMonitor : public RecurrentRunner {
    4.  public:
    5.   SummaryMonitor();
    6.   void RunOnce(const double current_time) override;
    7.  
    8.   // Escalate the status to a higher priority new status:
    9.   //    FATAL > ERROR > WARN > OK > UNKNOWN.
    10.   static void EscalateStatus(const ComponentStatus::Status new_status,
    11.                              const std::string& message,
    12.                              ComponentStatus* current_status);
    13.  
    14.  private:
    15.   size_t system_status_fp_ = 0;
    16.   double last_broadcast_ = 0;
    17. };
    18.  
    19.  
    20. void SummaryMonitor::RunOnce(const double current_time) {
    21.   auto manager = MonitorManager::Instance();
    22.   auto* status = manager->GetStatus();
    23.   // Escalate the summary status to the most severe one.
    24.   for (auto& component : *status->mutable_components()) {
    25.     auto* summary = component.second.mutable_summary();
    26.     const auto& process_status = component.second.process_status();
    27.     EscalateStatus(process_status.status(), process_status.message(), summary);
    28.     const auto& module_status = component.second.module_status();
    29.     EscalateStatus(module_status.status(), module_status.message(), summary);
    30.     const auto& channel_status = component.second.channel_status();
    31.     EscalateStatus(channel_status.status(), channel_status.message(), summary);
    32.     const auto& resource_status = component.second.resource_status();
    33.     EscalateStatus(resource_status.status(), resource_status.message(),
    34.                    summary);
    35.     const auto& other_status = component.second.other_status();
    36.     EscalateStatus(other_status.status(), other_status.message(), summary);
    37.   }
    38.  
    39.   // Get fingerprint of current status.
    40.   // Don't use DebugString() which has known bug on Map field. The string
    41.   // doesn't change though the value has changed.
    42.   static std::hash hash_fn;
    43.   std::string proto_bytes;
    44.   status->SerializeToString(&proto_bytes);
    45.   const size_t new_fp = hash_fn(proto_bytes);
    46.  
    47.   if (system_status_fp_ != new_fp ||
    48.       current_time - last_broadcast_ > FLAGS_system_status_publish_interval) {
    49.     static auto writer =
    50.         manager->CreateWriter(FLAGS_system_status_topic);
    51.  
    52.     apollo::common::util::FillHeader("SystemMonitor", status);
    53.     writer->Write(*status);
    54.     status->clear_header();
    55.     system_status_fp_ = new_fp;
    56.     last_broadcast_ = current_time;
    57.   }
    58. }

    分析

    针对前面所有的monitor 上报的故障信息，进行一个整合，然后发送到/apollo/monitor/system_status这个topic 上。

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  • 原文地址：https://blog.csdn.net/qq_32378713/article/details/128112717