From c8fea2497b2bb756b6c8f323553d31589fbec00d Mon Sep 17 00:00:00 2001 From: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Date: Wed, 17 Apr 2024 15:58:59 +0900 Subject: [PATCH] feat(fault injection): update params (#627) * feat(fault_injection): update params to adapt diagnostic_graph_aggregator Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * update event name Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> --------- Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> --- .../simulator/fault_injection.param.yaml | 236 +++++++++++++----- 1 file changed, 176 insertions(+), 60 deletions(-) diff --git a/autoware_launch/config/simulator/fault_injection.param.yaml b/autoware_launch/config/simulator/fault_injection.param.yaml index a7d9663acc..9fcdd18134 100644 --- a/autoware_launch/config/simulator/fault_injection.param.yaml +++ b/autoware_launch/config/simulator/fault_injection.param.yaml @@ -1,63 +1,179 @@ /**: ros__parameters: event_diag_list: - vehicle_is_out_of_lane: "lane_departure" - trajectory_deviation_is_high: "trajectory_deviation" - localization_matching_score_is_low: "ndt_scan_matcher" - localization_accuracy_is_low: "localization_accuracy" - map_version_is_different: "map_version" - trajectory_is_invalid: "trajectory_point_validation" - cpu_temperature_is_high: "CPU Temperature" - cpu_usage_is_high: "CPU Usage" - cpu_is_in_thermal_throttling: "CPU Thermal Throttling" - storage_temperature_is_high: "HDD Temperature" - storage_usage_is_high: "HDD Usage" - network_usage_is_high: "Network Usage" - clock_error_is_large: "NTP Offset" - gpu_temperature_is_high: "GPU Temperature" - gpu_usage_is_high: "GPU Usage" - gpu_memory_usage_is_high: "GPU Memory Usage" - gpu_is_in_thermal_throttling: "GPU Thermal Throttling" - driving_recorder_storage_error: "driving_recorder" - debug_data_logger_storage_error: "bagpacker" - emergency_stop_operation: "emergency_stop_operation" - vehicle_error_occurred: "vehicle_errors" - vehicle_ecu_connection_is_lost: "can_bus_connection" - obstacle_crash_sensor_is_activated: "obstacle_crash" - /control/command_gate/node_alive_monitoring: "vehicle_cmd_gate: heartbeat" - /control/autonomous_driving/node_alive_monitoring: "control_topic_status" - /control/external_command_selector/node_alive_monitoring: "external_cmd_selector: heartbeat" - /localization/node_alive_monitoring: "localization_topic_status" - /map/node_alive_monitoring: "map_topic_status" - /planning/node_alive_monitoring: "planning_topic_status" - /sensing/lidar/node_alive_monitoring: "lidar_topic_status" - /sensing/imu/node_alive_monitoring: "imu_connection" - /sensing/gnss/node_alive_monitoring: "gnss_connection" - /system/node_alive_monitoring: "system_topic_status" - /vehicle/node_alive_monitoring: "vehicle_topic_status" - cpu_frequency: "CPU Frequency" - cpu_load_average: "CPU Load Average" - gpu_frequency: "GPU Frequency" - lidar_blockage_validation: "blockage_validation" - lidar_visibility: "left_upper: visibility_validation" - memory_usage: "Memory Usage" - network_crc_error: "Network CRC Error" - network_ip_packet_reassembles_failed: "IP Packet Reassembles Failed" - network_traffic: "Network Traffic" - perception_topic_status: "perception_topic_status" - process_high_load: "High-load" - process_high_mem: "High-mem" - process_tasks_summary: "Tasks Summary" - remote_control_topic_status: "remote_control_topic_status" - sensing_topic_status: "sensing_topic_status" - storage_connection: "HDD Connection" - storage_power_on_hours: "HDD PowerOnHours" - storage_read_data_rate: "HDD ReadDataRate" - storage_read_iops: "HDD ReadIOPS" - storage_recovered_error: "HDD RecoveredError" - storage_total_data_written: "HDD TotalDataWritten" - storage_write_data_rate: "HDD WriteDataRate" - storage_write_iops: "HDD WriteIOPS" - trajectory_curvature_validation: "trajectory_curvature_validation" - trajectory_interval_validation : "trajectory_interval_validation" - trajectory_relative_angle_validation: "trajectory_relative_angle_validation" + # Hardware + # CPU + CPU-001: "cpu_monitor: CPU Temperature" + CPU-002: "cpu_monitor: CPU Usage" + CPU-003: "cpu_monitor: CPU Load Average" + CPU-004: "cpu_monitor: CPU Thermal Throttling" + CPU-005: "cpu_monitor: CPU Frequency" + + # HDD + HDD-001: "hdd_monitor: HDD Temperature" + HDD-002: "hdd_monitor: HDD Usage" + HDD-003: "hdd_monitor: HDD Connection" + HDD-004: "hdd_monitor: HDD TotalDataWritten" + HDD-005: "hdd_monitor: HDD PowerOnHours" + HDD-006: "hdd_monitor: HDD RecoveredError" + HDD-007-1: "hdd_monitor: HDD ReadDataRate" + HDD-007-2: "hdd_monitor: HDD WriteDataRate" + HDD-007-3: "hdd_monitor: HDD ReadIOPS" + HDD-007-4: "hdd_monitor: HDD WriteIOPS" + + # Memory + MEM-001: "mem_monitor: Memory Usage" + MEM-002: "mem_monitor: Memory ECC" + + # Network + NET-001: "net_monitor: Network Usage" + NET-002: "net_monitor: Network Traffic" + NET-003: "net_monitor: Network CRC Error" + NET-004: "net_monitor: IP Packet Reassembles Failed" + + # NTP + NTP-001: "ntp_monitor: NTP Offset" + + # Process + PRO-001: "process_monitor: Tasks Summary" + PRO-002-0: "process_monitor: High-load Proc[0]" + PRO-002-1: "process_monitor: High-load Proc[1]" + PRO-002-2: "process_monitor: High-load Proc[2]" + PRO-002-3: "process_monitor: High-load Proc[3]" + PRO-002-4: "process_monitor: High-load Proc[4]" + PRO-003-0: "process_monitor: High-mem Proc[0]" + PRO-003-1: "process_monitor: High-mem Proc[1]" + PRO-003-2: "process_monitor: High-mem Proc[2]" + PRO-003-3: "process_monitor: High-mem Proc[3]" + PRO-003-4: "process_monitor: High-mem Proc[4]" + + # GPU + GPU-001: "gpu_monitor: GPU Temperature" + GPU-002: "gpu_monitor: GPU Usage" + GPU-003: "gpu_monitor: GPU Memory Usage" + GPU-004: "gpu_monitor: GPU Thermal Throttling" + GPU-005: "gpu_monitor: GPU Frequency" + + # BIOS + BIOS-001: "voltage_monitor: CMOS Battery Status" + + # IMU + IMU-001: "imu_monitor: yaw_rate_status" + IMU-003: "gyro_bias_estimator: gyro_bias_validator" + + # LiDAR + PNDR-001/front_lower: "pandar_monitor: /sensing/lidar/front_lower: pandar_connection" + PNDR-001/front_upper: "pandar_monitor: /sensing/lidar/front_upper: pandar_connection" + PNDR-001/left_lower: "pandar_monitor: /sensing/lidar/left_lower: pandar_connection" + PNDR-001/left_upper: "pandar_monitor: /sensing/lidar/left_upper: pandar_connection" + PNDR-001/right_lower: "pandar_monitor: /sensing/lidar/right_lower: pandar_connection" + PNDR-001/right_upper: "pandar_monitor: /sensing/lidar/right_upper: pandar_connection" + PNDR-001/rear_lower: "pandar_monitor: /sensing/lidar/rear_lower: pandar_connection" + PNDR-001/rear_upper: "pandar_monitor: /sensing/lidar/rear_upper: pandar_connection" + PNDR-002/front_lower: "pandar_monitor: /sensing/lidar/front_lower: pandar_temperature" + PNDR-002/front_upper: "pandar_monitor: /sensing/lidar/front_upper: pandar_temperature" + PNDR-002/left_lower: "pandar_monitor: /sensing/lidar/left_lower: pandar_temperature" + PNDR-002/left_upper: "pandar_monitor: /sensing/lidar/left_upper: pandar_temperature" + PNDR-002/right_lower: "pandar_monitor: /sensing/lidar/right_lower: pandar_temperature" + PNDR-002/right_upper: "pandar_monitor: /sensing/lidar/right_upper: pandar_temperature" + PNDR-002/rear_lower: "pandar_monitor: /sensing/lidar/rear_lower: pandar_temperature" + PNDR-002/rear_upper: "pandar_monitor: /sensing/lidar/rear_upper: pandar_temperature" + PNDR-003/front_lower: "pandar_monitor: /sensing/lidar/front_lower: pandar_ptp" + PNDR-003/front_upper: "pandar_monitor: /sensing/lidar/front_upper: pandar_ptp" + PNDR-003/left_lower: "pandar_monitor: /sensing/lidar/left_lower: pandar_ptp" + PNDR-003/left_upper: "pandar_monitor: /sensing/lidar/left_upper: pandar_ptp" + PNDR-003/right_lower: "pandar_monitor: /sensing/lidar/right_lower: pandar_ptp" + PNDR-003/right_upper: "pandar_monitor: /sensing/lidar/right_upper: pandar_ptp" + PNDR-003/rear_lower: "pandar_monitor: /sensing/lidar/rear_lower: pandar_ptp" + PNDR-003/rear_upper: "pandar_monitor: /sensing/lidar/rear_upper: pandar_ptp" + + # Software + # Map + MAP-001-1: "topic_state_monitor_vector_map: map_topic_status" + MAP-001-2: "topic_state_monitor_pointcloud_map: map_topic_status" + + # Localization + LOCALIZATION-001-1: "topic_state_monitor_initialpose3d: localization_topic_status" + LOCALIZATION-001-2: "topic_state_monitor_pose_twist_fusion_filter_pose: localization_topic_status" + LOCALIZATION-001-3: "topic_state_monitor_transform_map_to_base_link: localization_topic_status" + LOCALIZATION-004: "localization_error_monitor: localization_accuracy" + LOCALIZATION-005: "localization_error_monitor: localization_accuracy_lateral_direction" + + # Perception + PERCEPTION-001-1: "topic_state_monitor_traffic_light_recognition_traffic_signals: perception_topic_status" + PERCEPTION-001-2: "topic_state_monitor_object_recognition_objects: perception_topic_status" + PERCEPTION-001-3: "topic_state_monitor_obstacle_segmentation_pointcloud: perception_topic_status" + + # Planning + PLANNING-001-1: "topic_state_monitor_mission_planning_route: planning_topic_status" + PLANNING-001-2: "topic_state_monitor_scenario_planning_trajectory: planning_topic_status" + PLANNING-003: "planning_validator: trajectory_validation_finite" + PLANNING-004: "planning_validator: trajectory_validation_interval" + PLANNING-005: "planning_validator: trajectory_validation_curvature" + PLANNING-006: "planning_validator: trajectory_validation_relative_angle" + PLANNING-007: "planning_validator: trajectory_validation_lateral_acceleration" + PLANNING-008: "planning_validator: trajectory_validation_acceleration" + PLANNING-009: "planning_validator: trajectory_validation_deceleration" + PLANNING-010: "planning_validator: trajectory_validation_steering" + PLANNING-011: "planning_validator: trajectory_validation_steering_rate" + PLANNING-012: "planning_validator: trajectory_validation_velocity_deviation" + PLANNING-013: "collision_checker: collision_check" + + # Control + CONTROL-001: "topic_state_monitor_control_command_control_cmd: control_topic_status" + CONTROL-002: "external_cmd_converter: remote_control_topic_status" + CONTROL-003: "vehicle_cmd_gate: heartbeat" + CONTROL-004: "lane_departure_checker_node: lane_departure" + CONTROL-005: "lane_departure_checker_node: trajectory_deviation" + CONTROL-008: "external_cmd_selector: heartbeat" + CONTROL-009: "autonomous_emergency_braking: aeb_emergency_stop" + CONTROL-010: "control_validator: control_validation_max_distance_deviation" + + # Vehicle + VEHICLE-001-1: "topic_state_monitor_vehicle_status_velocity_status: vehicle_topic_status" + VEHICLE-001-2: "topic_state_monitor_vehicle_status_steering_status: vehicle_topic_status" + VEHICLE-005: "j6_interface: vehicle_heartbeat_errors" + VEHICLE-006: "j6_interface: vehicle_errors" + + # System + SYSTEM-001: "topic_state_monitor_system_emergency_control_cmd: system_topic_status" + SYSTEM-002: "vehicle_cmd_gate: emergency_stop_operation" + SYSTEM-003: "bagpacker_state" + SYSTEM-005: "edge_core_internet_connection" + + # Others + OTHERS-002/front_lower: "blockage_return_diag: /sensing/lidar/front_lower: blockage_validation" + OTHERS-002/front_upper: "blockage_return_diag: /sensing/lidar/front_upper: blockage_validation" + OTHERS-002/left_lower: "blockage_return_diag: /sensing/lidar/left_lower: blockage_validation" + OTHERS-002/left_upper: "blockage_return_diag: /sensing/lidar/left_upper: blockage_validation" + OTHERS-002/right_lower: "blockage_return_diag: /sensing/lidar/right_lower: blockage_validation" + OTHERS-002/right_upper: "blockage_return_diag: /sensing/lidar/right_upper: blockage_validation" + OTHERS-002/rear_lower: "blockage_return_diag: /sensing/lidar/rear_lower: blockage_validation" + OTHERS-002/rear_upper: "blockage_return_diag: /sensing/lidar/rear_upper: blockage_validation" + OTHERS-004: "concatenate_data: concat_status" + OTHERS-005/left_upper: "dual_return_filter: /sensing/lidar/left_upper: visibility_validation" + OTHERS-005/right_upper: "dual_return_filter: /sensing/lidar/right_upper: visibility_validation" + OTHERS-010: "emergency_vehicle_detector: emergency_vehicle" + + # Not in System_Hazard_and_Fail_Safe + debug_data_logger_disk_usage_error: "bagpacker_state/disk_usage" + slip_status: "slip_detector: slip_status" + daytime_status: "daytime_monitor: daytime_status" + perception_delay_check: "multi_object_tracker: Perception delay check from original header stamp" + imu_topic_status: "topic_state_monitor_imu_data: imu_topic_status" + gnss_topic_status: "topic_state_monitor_gnss_pose: gnss_topic_status" + septentrio_status: "septentrio_driver: Quality indicators" + /sensing/camera/0/connection: "topic_state_monitor_camera0: camera0_topic_status" + /sensing/camera/1/connection: "topic_state_monitor_camera0: camera1_topic_status" + /sensing/camera/2/connection: "topic_state_monitor_camera0: camera2_topic_status" + /sensing/camera/3/connection: "topic_state_monitor_camera0: camera3_topic_status" + /sensing/camera/4/connection: "topic_state_monitor_camera0: camera4_topic_status" + /sensing/camera/5/connection: "topic_state_monitor_camera0: camera5_topic_status" + /sensing/camera/6/connection: "topic_state_monitor_camera0: camera6_topic_status" + /sensing/camera/7/connection: "topic_state_monitor_camera0: camera7_topic_status" + /sensing/radar/front_center/connection: "topic_state_monitor_radar_front_center: radar_front_center_topic_status" + /sensing/radar/front_left/connection: "topic_state_monitor_radar_front_left: radar_front_left_topic_status" + /sensing/radar/front_right/connection: "topic_state_monitor_radar_front_right: radar_front_right_topic_status" + /sensing/radar/rear_center/connection: "topic_state_monitor_radar_rear_center: radar_rear_center_topic_status" + /sensing/radar/rear_left/connection: "topic_state_monitor_radar_rear_left: radar_rear_left_topic_status" + /sensing/radar/rear_right/connection: "topic_state_monitor_radar_rear_right: radar_rear_right_topic_status"