sl-firmware
9683fd3685
Implement centralized health monitoring node that: - Subscribes to /saltybot/<node>/heartbeat from all tracked nodes - Tracks expected nodes from YAML configuration - Marks nodes DEAD if silent >5 seconds - Triggers auto-restart via ros2 launch when nodes fail - Publishes /saltybot/system_health JSON with full status - Alerts face display on critical node failures Features: - Configurable heartbeat timeout (default 5s) - Automatic dead node detection and restart - System health JSON publishing (timestamp, uptime, node status, critical alerts) - Face alert system for critical failures - Rate-limited alerting to avoid spam - Comprehensive monitoring config with critical/important node tiers Package structure: - saltybot_health_monitor: Main health monitoring node - health_config.yaml: Configurable list of monitored nodes - health_monitor.launch.py: Launch file with parameters - Unit tests for heartbeat parsing and health status generation Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
31 lines
982 B
Python
31 lines
982 B
Python
from setuptools import setup
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package_name = "saltybot_health_monitor"
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setup(
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name=package_name,
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version="0.1.0",
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packages=[package_name],
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data_files=[
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("share/ament_index/resource_index/packages", [f"resource/{package_name}"]),
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(f"share/{package_name}", ["package.xml"]),
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(f"share/{package_name}/launch", ["launch/health_monitor.launch.py"]),
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(f"share/{package_name}/config", ["config/health_config.yaml"]),
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],
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install_requires=["setuptools", "pyyaml"],
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zip_safe=True,
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maintainer="sl-controls",
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maintainer_email="sl-controls@saltylab.local",
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description=(
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"System health monitor: tracks node heartbeats, detects down nodes, "
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"triggers auto-restart, publishes system health status"
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),
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license="MIT",
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tests_require=["pytest"],
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entry_points={
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"console_scripts": [
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"health_monitor_node = saltybot_health_monitor.health_monitor_node:main",
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],
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},
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)
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