Monitor¶
Introduction¶
This module contains system level software such as code to check hardware status and monitor system health. In Apollo 5.5, the monitor module now performs the following checks among others:
Status of running modules
Monitoring data integrity
Monitoring data frequency
Monitoring system health (e.g. CPU, memory, disk usage, etc)
Generating end-to-end latency stats report
Note: You can configure the modules that you would like to monitor for the first 3 capabilities mentioned above.
Hardware Monitors¶
Hardware related monitoring, e.g. CAN card / GPS status health check. Check results are reported back to HMI.
Software Monitors¶
Process Monitor¶
It checks if a process is running or not. Config it with apollo::monitor::ProcessConf proto, which works similar to
ps aux | grep <keyword1> | grep <keyword2> | ...
Topic Monitor¶
It checks if a given topic is updated normally. Config it with apollo::monitor::TopicConf proto.
Summary Monitor¶
It summarizes all other specific monitor’s results to a simple conclusion such as OK, WARN, ERROR or FATAL.