sl-firmware
41dc80ea7d
Comprehensive hardware diagnostics and health monitoring for SaltyBot. Startup hardware checks: - RPLIDAR, RealSense, VESC, Jabra microphone, STM32 bridge - Servo controller, WiFi, GPS module - Disk space, system RAM, CPU temperature - Boot result via TTS + face animation Runtime monitoring: - Temperature thresholds (Orin GPU >80C, VESC >60C) - Network latency to 8.8.8.8 - System resource tracking (CPU, RAM, disk) Features: - Publishes /saltybot/diagnostics (DiagnosticArray) - JSON logging to /home/seb/saltybot-data/diagnostics/ - Configuration-driven via YAML - Boot animations and TTS announcements - Configurable startup and runtime checks Package structure: - saltybot_diagnostics: Main diagnostics node - diagnostic_checks.yaml: Hardware config + thresholds - diagnostics.launch.py: Launch file with parameters - Unit tests for check aggregation and logging Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
29 lines
505 B
YAML
29 lines
505 B
YAML
startup_checks:
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enabled: true
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timeout_s: 30
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checks:
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- rplidar
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- realsense
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- vesc
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- jabra_microphone
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- stm32_bridge
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- servos
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- wifi
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- gps
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- disk_space
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- system_ram
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runtime_monitoring:
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enabled: true
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frequency_hz: 1
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temperatures:
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jetson_gpu: {warn_c: 80, error_c: 85}
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vesc_motor: {warn_c: 60, error_c: 70}
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network:
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ping_target: 8.8.8.8
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latency_warn_ms: 100
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logging:
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directory: /home/seb/saltybot-data/diagnostics
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retention_days: 30
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