safety_manager.proto

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syntax = "proto2";
 
package apollo.safety_manager;
 
import "modules/common_msgs/basic_msgs/header.proto";
 
message Filter {
  required uint32 required_cycles = 1;
  required uint32 total_cycles = 2;
}
 
message SafetyRule {
  // If no message received during the timeout seconds, status will be set to
  // OK.
  optional double timeout = 1;
  // Duration seconds required for the status from PENDING to real,
  // include WARN_PENDING to WARN, ERROR_PENDING to ERROR, FATAL_PENDING to
  // FATAL, it takes at least two cycles to caculate.
  optional double duration = 2;
  // Filter conditions, such as 1/2, 3/3, PENDING status will be set before
  // unsatisfied.
  optional Filter filter = 3;
  // Note: at most one rule can be configured at the same time,
  // if multi rules are configured, the result may not be what you expected.
 
  // fault removal time in seconds, set -1 if never removed.
  optional int32 fault_removed_secs = 4 [default = 5];
}
 
message Matcher {
  // Full name match, ["CPU Usage", "CPU Temp"] means name equal "CPU Usage" or
  // "CPU Temp".
  repeated string name = 1;
  // Name contains match, ["CPU", "MEM"] means name contain CPU or MEM.
  repeated string contains = 2;
  // Name prefix match.
  repeated string prefix = 3;
  // Name regex match.
  repeated string regex = 4;
  // Tags contains at least one, ["resource", "net"] means contain resource or
  // net tag.
  repeated string tags_contains_one = 5;
  // Tags contain many, e.g. ["resource", "net"] means contain both resource and
  // net tag.
  repeated string tags_contains_many = 6;
}
 
message RuleMatcher {
  required Matcher matcher = 1;
  required SafetyRule rule = 2;
}
 
message RuleMatcherList {
  repeated RuleMatcher rule_matcher = 1;
}
 
message SafetyStatus {
  enum Status {
    // Normal status.
    OK = 1;
    // Pending status will be set util the rule conditions are satisfied.
    WARN_PENDING = 2;
    ERROR_PENDING = 3;
    FATAL_PENDING = 4;
    // Warn status only send an alert notice.
    WARN = 5;
    // Error status trigger comfortable braking normally.
    ERROR = 6;
    // Fatal status trigger emergency braking normally.
    FATAL = 7;
    // wait removed status.
    WAIT_REMOVED = 8;
  }
  message Item {
    // item basic info
    required string name = 1;
    optional uint64 code = 2;
    optional string type = 3;
    optional string level = 4;
    optional string conditions = 5;
    optional string description = 6;
    // item status info
    optional Status status = 7;
    optional string value = 8;
    optional string message = 9;
  }
  optional apollo.common.Header header = 1;
  // Name as the unique identifier.
  required string name = 2;
  required Status status = 3;
  optional string message = 4;
  // Used for status detailed desciption.
  map<string, string> values = 5;
  repeated string tags = 6;
  optional SafetyRule rule = 7;
  repeated Item items = 8;
}
 
message SafetyStatusAggr {
  optional apollo.common.Header header = 1;
  repeated SafetyStatus status_array = 2;
}
 
message SafetyDecision {
  optional apollo.common.Header header = 1;
  // If we have this field, safety_mode should be triggered.
  // We'll check the system action and driver action continuously. If no proper
  // action was taken in a specified period of time (such as 10 seconds), EStop
  // will be sent to bring the vehicle into emergency full stop.
  optional double safety_mode_trigger_time = 2;
  optional bool require_emergency_stop = 3;
}
 
message SafetyFaultRemoveRequest {
  required double timestamp = 1;  // in seconds
  repeated string names = 2;
}
 
message SafetyFaultRemoveResponse {
  required bool success = 1;
  optional string message = 2;
}