Merge branch 'main' into fix/revert-loading-smoother-params-from-node…

…-instance

planning/behavior_velocity_planner/include/scene_module/occlusion_spot/scene_occlusion_spot.hpp

@@ -62,7 +62,6 @@ class OcclusionSpotModule : public SceneModuleInterface
   PlannerParam param_;
   tier4_autoware_utils::StopWatch<std::chrono::milliseconds> stop_watch_;
   std::vector<lanelet::BasicPolygon2d> partition_lanelets_;
-  std::vector<lanelet::BasicPolygon2d> close_partition_;
 
 protected:
   int64_t module_id_{};

planning/behavior_velocity_planner/src/scene_module/occlusion_spot/scene_occlusion_spot.cpp

@@ -109,7 +109,8 @@ bool OcclusionSpotModule::modifyPathVelocity(
   std::vector<utils::PossibleCollisionInfo> possible_collisions;
   // extract only close lanelet
   if (param_.use_partition_lanelet) {
-    planning_utils::extractClosePartition(ego_pose.position, partition_lanelets_, close_partition_);
+    planning_utils::extractClosePartition(
+      ego_pose.position, partition_lanelets_, debug_data_.close_partition);
   }
   DEBUG_PRINT(show_time, "extract[ms]: ", stop_watch_.toc("processing_time", true));
   std::vector<geometry_msgs::msg::Point> parked_vehicle_point;
@@ -153,7 +154,6 @@ bool OcclusionSpotModule::modifyPathVelocity(
   utils::applySafeVelocityConsideringPossibleCollision(path, possible_collisions, param_);
   // these debug topics needs computation resource
   debug_data_.parked_vehicle_point = parked_vehicle_point;
-  debug_data_.close_partition = close_partition_;
   debug_data_.z = path->points.front().point.pose.position.z;
   debug_data_.possible_collisions = possible_collisions;
   debug_data_.interp_path = interp_path;

system/system_monitor/README.md

@@ -128,12 +128,12 @@ Thermal throttling event can be monitored by reading contents of MSR(Model Speci
 
 ## <u>HDD Monitor</u>
 
-Generally, S.M.A.R.T. information is used to monitor HDD temperature, and normally accessing disk device node is allowed for root user or disk group.<br>
+Generally, S.M.A.R.T. information is used to monitor HDD temperature and life of HDD, and normally accessing disk device node is allowed for root user or disk group.<br>
 As with the CPU monitor, this package provides an approach to minimize security risks as much as possible:<br>
 
-- Provide a small program named 'hdd_reader' which accesses S.M.A.R.T. information and sends HDD temperature to HDD monitor by using socket programming.
+- Provide a small program named 'hdd_reader' which accesses S.M.A.R.T. information and sends some items of it to HDD monitor by using socket programming.
 - Run 'hdd_reader' as a specific user.
-- HDD monitor is able to know HDD temperature as an unprivileged user since HDD temperature is sent by socket communication.
+- HDD monitor is able to know some items of S.M.A.R.T. information as an unprivileged user since those are sent by socket communication.
 
 ### Instructions before starting
 

system/system_monitor/config/hdd_monitor.param.yaml

@@ -7,5 +7,8 @@
         name: /
         temp_warn: 55.0
         temp_error: 70.0
+        power_on_hours_warn: 3000000
+        total_data_written_warn: 4915200   # =150TB (1unit=32MB)
+        total_data_written_safety_factor: 0.05
         free_warn: 5120 # MB(8hour)
         free_error: 100 # MB(last 1 minute)

system/system_monitor/docs/hdd_reader.md

@@ -2,15 +2,15 @@
 
 ## Name
 
-hdd_reader - Read S.M.A.R.T. information for monitoring HDD temperature
+hdd_reader - Read S.M.A.R.T. information for monitoring HDD temperature and life of HDD
 
 ## Synopsis
 
 hdd_reader [OPTION]
 
 ## Description
 
-Read S.M.A.R.T. information for monitoring HDD temperature.<br>
+Read S.M.A.R.T. information for monitoring HDD temperature and life of HDD.<br>
 This runs as a daemon process and listens to a TCP/IP port (7635 by default).
 
 **Options:**<br>
@@ -24,15 +24,15 @@ Returns 0 if OK; non-zero otherwise.
 
 ## Notes
 
-The 'hdd_reader' accesses minimal data enough to get Model number, Serial number, and HDD temperature.<br>
+The 'hdd_reader' accesses minimal data enough to get Model number, Serial number, HDD temperature, and life of HDD.<br>
 This is an approach to limit its functionality, however, the functionality can be expanded for further improvements and considerations in the future.<br><br>
 
 ### [ATA]
 
-| Purpose                     | Name                 | Length               |
-| --------------------------- | -------------------- | -------------------- |
-| Model number, Serial number | IDENTIFY DEVICE data | 256 words(512 bytes) |
-| HDD temperature             | SMART READ DATA      | 256 words(512 bytes) |
+| Purpose                      | Name                 | Length               |
+| ---------------------------- | -------------------- | -------------------- |
+| Model number, Serial number  | IDENTIFY DEVICE data | 256 words(512 bytes) |
+| HDD temperature, life of HDD | SMART READ DATA      | 256 words(512 bytes) |
 
 For details please see the documents below.<br>
 
@@ -43,10 +43,10 @@ For details please see the documents below.<br>
 
 ### [NVMe]
 
-| Purpose                     | Name                               | Length           |
-| --------------------------- | ---------------------------------- | ---------------- |
-| Model number, Serial number | Identify Controller data structure | 4096 bytes       |
-| HDD temperature             | SMART / Health Information         | 1 Dword(4 bytes) |
+| Purpose                      | Name                               | Length              |
+| ---------------------------- | ---------------------------------- | ------------------- |
+| Model number, Serial number  | Identify Controller data structure | 4096 bytes          |
+| HDD temperature, life of HDD | SMART / Health Information         | 36 Dword(144 bytes) |
 
 For details please see the documents below.<br>
 

system/system_monitor/docs/ros_parameters.md

@@ -22,11 +22,15 @@ hdd_monitor:
 
   disks:
 
-| Name       |  Type  | Unit | Default | Notes                                                                       |
-| :--------- | :----: | :--: | :-----: | :-------------------------------------------------------------------------- |
-| name       | string | n/a  |  none   | The disk name to monitor temperature. (e.g. /dev/sda)                       |
-| temp_error | float  | DegC |  55.0   | Generates warning when HDD temperature reaches a specified value or higher. |
-| temp_error | float  | DegC |  70.0   | Generates error when HDD temperature reaches a specified value or higher.   |
+| Name                             |  Type  |       Unit        | Default | Notes                                                                              |
+| :------------------------------- | :----: | :---------------: | :-----: | :--------------------------------------------------------------------------------- |
+| name                             | string |        n/a        |  none   | The disk name to monitor temperature. (e.g. /dev/sda)                              |
+| temp_warn                        | float  |       DegC        |  55.0   | Generates warning when HDD temperature reaches a specified value or higher.        |
+| temp_error                       | float  |       DegC        |  70.0   | Generates error when HDD temperature reaches a specified value or higher.          |
+| power_on_hours_warn              |  int   |       Hour        | 3000000 | Generates warning when HDD power-on hours reaches a specified value or higher.     |
+| total_data_written_attribute_id  |  int   |        n/a        |  0xF1   | S.M.A.R.T attribute ID of total data written.                                      |
+| total_data_written_warn          |  int   | depends on device | 4915200 | Generates warning when HDD total data written reaches a specified value or higher. |
+| total_data_written_safety_factor |  int   |      %(1e-2)      |  0.05   | Safety factor of HDD total data written.                                           |
 
 hdd_monitor:
 

system/system_monitor/docs/topics_hdd_monitor.md

@@ -1,4 +1,4 @@
-# ROS topics: CPU Monitor
+# ROS topics: HDD Monitor
 
 ## <u>HDD Temperature</u>
 
@@ -22,6 +22,48 @@
 | HDD [0-9]: serial      | S4EMNF0M820682             |
 | HDD [0-9]: temperature | 37.0 DegC                  |
 
+## <u>HDD PowerOnHours</u>
+
+/diagnostics/hdd_monitor: HDD PowerOnHours
+
+<b>[summary]</b>
+
+| level | message        |
+| ----- | -------------- |
+| OK    | OK             |
+| WARN  | lifetime limit |
+
+<b>[values]</b>
+
+| key                       | value (example)         |
+| ------------------------- | ----------------------- |
+| HDD [0-9]: status         | OK / lifetime limit     |
+| HDD [0-9]: name           | /dev/nvme0              |
+| HDD [0-9]: model          | PHISON PS5012-E12S-512G |
+| HDD [0-9]: serial         | FB590709182505050767    |
+| HDD [0-9]: power on hours | 4834 Hours              |
+
+## <u>HDD TotalDataWritten</u>
+
+/diagnostics/hdd_monitor: HDD TotalDataWritten
+
+<b>[summary]</b>
+
+| level | message         |
+| ----- | --------------- |
+| OK    | OK              |
+| WARN  | warranty period |
+
+<b>[values]</b>
+
+| key                           | value (example)              |
+| ----------------------------- | ---------------------------- |
+| HDD [0-9]: status             | OK / warranty period         |
+| HDD [0-9]: name               | /dev/nvme0                   |
+| HDD [0-9]: model              | PHISON PS5012-E12S-512G      |
+| HDD [0-9]: serial             | FB590709182505050767         |
+| HDD [0-9]: total data written | 146295330 <br> not available |
+
 ## <u>HDD Usage</u>
 
 /diagnostics/hdd_monitor: HDD Usage

system/system_monitor/include/hdd_reader/hdd_reader.hpp

@@ -24,9 +24,39 @@
 #include <boost/serialization/serialization.hpp>
 #include <boost/serialization/string.hpp>
 
+#include <bitset>
 #include <map>
 #include <string>
 
+/**
+ * @brief ATA attribute IDs
+ */
+enum class ATAAttributeIDs : uint8_t { TEMPERATURE = 0, POWER_ON_HOURS = 1, SIZE };
+
+/**
+ * @brief HDD device
+ */
+struct HDDDevice
+{
+  std::string name_;  //!< @brief Device name
+  uint8_t
+    total_data_written_attribute_id_;  //!< @brief S.M.A.R.T attribute ID of total data written
+
+  /**
+   * @brief Load or save data members.
+   * @param [inout] ar archive reference to load or save the serialized data members
+   * @param [in] version version for the archive
+   * @note NOLINT syntax is needed since this is an interface to serialization and
+   * used inside boost serialization.
+   */
+  template <typename archive>
+  void serialize(archive & ar, const unsigned /*version*/)  // NOLINT(runtime/references)
+  {
+    ar & name_;
+    ar & total_data_written_attribute_id_;
+  }
+};
+
 /**
  * @brief HDD information
  */
@@ -38,6 +68,9 @@ struct HDDInfo
   uint8_t temp_;        //!< @brief temperature(DegC)
   // Lowest byte of the raw value contains the exact temperature value (Celsius degrees)
   // in S.M.A.R.T. information.
+  uint64_t power_on_hours_;           //!< @brief power on hours count
+  uint64_t total_data_written_;       //!< @brief total data written
+  bool is_valid_total_data_written_;  //!< @brief whether total_data_written_ is valid value
 
   /**
    * @brief Load or save data members.
@@ -53,6 +86,9 @@ struct HDDInfo
     ar & model_;
     ar & serial_;
     ar & temp_;
+    ar & power_on_hours_;
+    ar & total_data_written_;
+    ar & is_valid_total_data_written_;
   }
 };
 

system/system_monitor/include/system_monitor/hdd_monitor/hdd_monitor.hpp

@@ -21,6 +21,7 @@
 #define SYSTEM_MONITOR__HDD_MONITOR__HDD_MONITOR_HPP_
 
 #include <diagnostic_updater/diagnostic_updater.hpp>
+#include <hdd_reader/hdd_reader.hpp>
 
 #include <climits>
 #include <map>
@@ -32,13 +33,35 @@
  */
 struct HDDParam
 {
-  std::string device_;  //!< @brief device
-  float temp_warn_;     //!< @brief HDD temperature(DegC) to generate warning
-  float temp_error_;    //!< @brief HDD temperature(DegC) to generate error
-  int free_warn_;       //!< @brief HDD free space(MB) to generate warning
-  int free_error_;      //!< @brief HDD free space(MB) to generate error
+  std::string device_;                      //!< @brief device
+  float temp_warn_;                         //!< @brief HDD temperature(DegC) to generate warning
+  float temp_error_;                        //!< @brief HDD temperature(DegC) to generate error
+  int power_on_hours_warn_;                 //!< @brief HDD power on hours to generate warning
+  uint64_t total_data_written_warn_;        //!< @brief HDD total data written to generate warning
+  float total_data_written_safety_factor_;  //!< @brief safety factor of HDD total data written
+  int free_warn_;                           //!< @brief HDD free space(MB) to generate warning
+  int free_error_;                          //!< @brief HDD free space(MB) to generate error
+
+  HDDParam()
+  : temp_warn_(55.0),
+    temp_error_(70.0),
+    power_on_hours_warn_(3000000),
+    total_data_written_warn_(4915200),
+    total_data_written_safety_factor_(0.05),
+    free_warn_(5120),
+    free_error_(100)
+  {
+  }
+};
 
-  HDDParam() : temp_warn_(55.0), temp_error_(70.0), free_warn_(5120), free_error_(100) {}
+/**
+ * @brief SMART information items to check
+ */
+enum class HDDSMARTInfoItem : uint32_t {
+  TEMPERATURE = 0,
+  POWER_ON_HOURS = 1,
+  TOTAL_DATA_WRITTEN = 2,
+  SIZE
 };
 
 class HDDMonitor : public rclcpp::Node
@@ -50,11 +73,6 @@ class HDDMonitor : public rclcpp::Node
    */
   explicit HDDMonitor(const rclcpp::NodeOptions & options);
 
-  /**
-   * @brief Update the diagnostic state.
-   */
-  void update();
-
 protected:
   using DiagStatus = diagnostic_msgs::msg::DiagnosticStatus;
 
@@ -64,7 +82,36 @@ class HDDMonitor : public rclcpp::Node
    * @note NOLINT syntax is needed since diagnostic_updater asks for a non-const reference
    * to pass diagnostic message updated in this function to diagnostic publish calls.
    */
-  void checkTemp(diagnostic_updater::DiagnosticStatusWrapper & stat);  // NOLINT(runtime/references)
+  void checkSMARTTemperature(
+    diagnostic_updater::DiagnosticStatusWrapper & stat);  // NOLINT(runtime/references)
+
+  /**
+   * @brief check HDD power on hours
+   * @param [out] stat diagnostic message passed directly to diagnostic publish calls
+   * @note NOLINT syntax is needed since diagnostic_updater asks for a non-const reference
+   * to pass diagnostic message updated in this function to diagnostic publish calls.
+   */
+  void checkSMARTPowerOnHours(
+    diagnostic_updater::DiagnosticStatusWrapper & stat);  // NOLINT(runtime/references)
+
+  /**
+   * @brief check HDD total data written
+   * @param [out] stat diagnostic message passed directly to diagnostic publish calls
+   * @note NOLINT syntax is needed since diagnostic_updater asks for a non-const reference
+   * to pass diagnostic message updated in this function to diagnostic publish calls.
+   */
+  void checkSMARTTotalDataWritten(
+    diagnostic_updater::DiagnosticStatusWrapper & stat);  // NOLINT(runtime/references)
+
+  /**
+   * @brief check S.M.A.R.T. information
+   * @param [out] stat diagnostic message passed directly to diagnostic publish calls
+   * @note NOLINT syntax is needed since diagnostic_updater asks for a non-const reference
+   * to pass diagnostic message updated in this function to diagnostic publish calls.
+   */
+  void checkSMART(
+    diagnostic_updater::DiagnosticStatusWrapper & stat,
+    HDDSMARTInfoItem item);  // NOLINT(runtime/references)
 
   /**
    * @brief check HDD usage
@@ -94,19 +141,39 @@ class HDDMonitor : public rclcpp::Node
    */
   std::string getDeviceFromMountPoint(const std::string & mount_point);
 
+  /**
+   * @brief timer callback
+   */
+  void onTimer();
+
+  /**
+   * @brief update HDD information list
+   */
+  void updateHDDInfoList();
+
   diagnostic_updater::Updater updater_;  //!< @brief Updater class which advertises to /diagnostics
+  rclcpp::TimerBase::SharedPtr timer_;   //!< @brief timer to get HDD information from HDDReader
 
   char hostname_[HOST_NAME_MAX + 1];  //!< @brief host name
 
   int hdd_reader_port_;                         //!< @brief port number to connect to hdd_reader
   std::map<std::string, HDDParam> hdd_params_;  //!< @brief list of error and warning levels
-  std::vector<std::string> hdd_devices_;        //!< @brief list of devices
+  std::vector<HDDDevice> hdd_devices_;          //!< @brief list of devices
+  //!< @brief diagnostic of connection
+  diagnostic_updater::DiagnosticStatusWrapper connect_diag_;
+  HDDInfoList hdd_info_list_;  //!< @brief list of HDD information
 
   /**
-   * @brief HDD temperature status messages
+   * @brief HDD SMART status messages
    */
-  const std::map<int, const char *> temp_dict_ = {
-    {DiagStatus::OK, "OK"}, {DiagStatus::WARN, "hot"}, {DiagStatus::ERROR, "critical hot"}};
+  const std::map<int, const char *> smart_dicts_[static_cast<uint32_t>(HDDSMARTInfoItem::SIZE)] = {
+    // temperature
+    {{DiagStatus::OK, "OK"}, {DiagStatus::WARN, "hot"}, {DiagStatus::ERROR, "critical hot"}},
+    // power on hours
+    {{DiagStatus::OK, "OK"}, {DiagStatus::WARN, "lifetime limit"}, {DiagStatus::ERROR, "unused"}},
+    // total data written
+    {{DiagStatus::OK, "OK"}, {DiagStatus::WARN, "warranty period"}, {DiagStatus::ERROR, "unused"}},
+  };
 
   /**
    * @brief HDD usage status messages