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>
45 lines
1.7 KiB
Python
45 lines
1.7 KiB
Python
"""Launch diagnostic self-test node."""
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description():
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package_dir = get_package_share_directory("saltybot_diagnostics")
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config_dir = os.path.join(package_dir, "config")
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return LaunchDescription([
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DeclareLaunchArgument(
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"config_file",
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default_value=os.path.join(config_dir, "diagnostic_checks.yaml"),
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description="Diagnostic checks configuration",
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),
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DeclareLaunchArgument(
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"enable_startup_check", default_value="true",
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description="Enable startup checks",
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),
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DeclareLaunchArgument(
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"enable_runtime_monitoring", default_value="true",
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description="Enable runtime monitoring",
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),
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DeclareLaunchArgument(
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"log_directory", default_value="/home/seb/saltybot-data/diagnostics",
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description="Log directory",
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),
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Node(
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package="saltybot_diagnostics",
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executable="diagnostics_node",
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name="diagnostics",
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output="screen",
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parameters=[{
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"config_file": LaunchConfiguration("config_file"),
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"enable_startup_check": LaunchConfiguration("enable_startup_check"),
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"enable_runtime_monitoring": LaunchConfiguration("enable_runtime_monitoring"),
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"log_directory": LaunchConfiguration("log_directory"),
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"monitoring_frequency": 1.0,
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}],
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),
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])
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