Safety Manager Status

Updated: 2026-05-05 21:58:56 (auto-refresh 5s)
Mode: L1_LIMITED
Action: LIMIT_SPEED max_speed_kph=20 allow_lane_change=False min_speed_kph=0 deceleration_mps2=1.0
CheckerLevelMessageDetails
ChannelFreqChecker WARN 22 channels checked, worst: /apollo/sensor/velodyne64/compensator/PointCloud2: no data (expect ~10Hz) checked: 22
worst: {'name': 'ChannelData:/apollo/sensor/velodyne64/compensator/PointCloud2', 'source': 'ChannelFreqChecker', 'level': 'WARN', 'message': '/apollo/sensor/velodyne64/compensator/PointCloud2: no data (expect ~10Hz)', 'timestamp': 1777989527.506385, 'tags': ['lidar'], 'details': {}}
ChassisCheck OK Chassis OK (mode=1, gear=3, speed=0.2m/s, engine=True) driving_mode: 1
gear: 3
speed_mps: 0.2
throttle_pct: 0.10000000149011612
brake_pct: 1.2231999635696411
engine_started: True
seq: 308773
module: canbus
error_code: OK
CollisionCheck OK No collision risk (10 obstacles, strategy=NORMAL) total_cycles: 46
cycles_no_data: 0
total_no_data_events: 0
subscription_retries: 0
obstacle_count: 10
strategy: NORMAL
ControlDeviationCheck WARN Control deviation: Station error: 1.579m speed: 0.0
chassis_speed: 0.2
steer: 2.578227001450311
gear: 1
throttle: 11.809595989052166
brake: 0.0
lateral_error_m: 0.006
heading_error_deg: -0.5
station_error_m: 1.579
speed_error_mps: 0.714
error_code: OK
FileExistCheck OK All 5 files exist checked: 5
GnssSignalCheck OK GNSS OK (sol=50, sats=17) sol_type: 50
num_satellites: 17
diff_age: 2.0
imu_freq_hz: 99.5
signal_lost_total: 0
consecutive_lost: 0
LatencyCheck OK 7/7 OK, worst: chassis: data_age 2ms (OK, threshold=500ms) checked: 7
ok: 7
worst: {'name': 'Latency:chassis', 'source': 'LatencyChecker', 'level': 'OK', 'message': 'chassis: data_age 2ms (OK, threshold=500ms)', 'timestamp': 1777989527.683668, 'tags': ['latency'], 'details': {'channel': '/apollo/canbus/chassis', 'data_age_ms': 1.9, 'threshold_ms': 500, 'arrival_time': 1777989527.68, 'header_ts': 1545095776.1910393}}
LocalizationCheck OK Localization OK status_value: 0
state: OK
threshold: 3
ProcessCheck OK All 4 processes running
ResourceCheck WARN Disk usage: 87.2% cpu_usage: 7.2
mem_available_mb: 116839.359375
cpu_temp_c: 51.0
gpu_utilization: 2
gpu_temperature: 38
gpu_mem_used_mb: 712
gpu_mem_total_mb: 10240
SystemHealth OK System UP 1d 7h | App UP 85s system_uptime: 1d 7h
app_uptime_seconds: 85
boot_time: 2026-05-04 14:36:33
cpu_freq_mhz: 2006.7/4783.3
TrafficLightCheck OK Traffic lights OK (1 lights: 3:1) light_count: 1
data_age: 0.08s
detection_freq: 0.0Hz
color_summary: {'3': 1}

📊 Latency Statistics

MetricValue
timestamp1777989527.9756706
total_modules0

📊 Process Statistics

MetricValue
mainboard_dags[0].dag_pathmodules/monitor/dag/monitor.dag
mainboard_dags[0].loadedTrue
mainboard_dags[0].pid0
mainboard_dags[0].process_groupmonitor
mainboard_dags[1].dag_pathmodules/studio_connector/studio_connector.dag
mainboard_dags[1].loadedTrue
mainboard_dags[1].pid0
mainboard_dags[1].process_groupmainboard_default_279962
mainboard_groups[0].dag_count1
mainboard_groups[0].dags[0]modules/monitor/dag/monitor.dag
mainboard_groups[0].group_namemonitor
mainboard_groups[0].pids[0]279847
mainboard_groups[0].runningTrue
mainboard_groups[1].dag_count1
mainboard_groups[1].dags[0]modules/studio_connector/studio_connector.dag
mainboard_groups[1].group_namemainboard_default_279962
mainboard_groups[1].pids[0]279972
mainboard_groups[1].runningTrue
timestamp1777989527.90308
total_general_count0
total_mainboard_count2

📊 Resource Statistics

MetricValue
cpu.core_count24
cpu.freq_mhz2093.1
cpu.load_avg_15m0.0
cpu.load_avg_1m0.0
cpu.load_avg_5m0.0
cpu.temperature_c57.0
cpu.timestamp1777989527.881468
cpu.usage_percent7.0
disks[0].available_gb93.3
disks[0].devicenvme1n1p2
disks[0].mount_point/apollo
disks[0].timestamp1777989527.9001834
disks[0].total_gb767.9
disks[0].usage_percent87.2
disks[0].used_gb635.6
disks[1].available_gb252.9
disks[1].devicesda1
disks[1].mount_point/media/apollo/KINGSTON
disks[1].timestamp1777989527.902823
disks[1].total_gb476.9
disks[1].usage_percent47.0
disks[1].used_gb224.0
gpu.memory_free_mb9166.0
gpu.memory_total_mb10240.0
gpu.memory_used_mb713.0
gpu.power_draw_w80.1
gpu.temperature_c38.0
gpu.timestamp1777989527.8997183
gpu.utilization_percent7.0
memory.available_mb116844.0
memory.cached_mb116345.0
memory.swap_total_mb2048.0
memory.swap_used_mb5.0
memory.timestamp1777989527.8998735
memory.total_mb128436.0
memory.usage_percent9.0
memory.used_mb9439.0
timestamp1777989527.6893094

Guardian Status

KeyValue
action_count17
current_modeL1_LIMITED
mode_elapsed_seconds9.6
previous_modeL2_SOFT_STOP
takeover_requestedFalse
transition_count11

Recent Mode Transitions

FromToLevelSourceTime
L3_EMERGENCY_STOPL2_SOFT_STOPERRORcommunication:WARN(+5), resource:WARN(+5)1777989508.60223
L2_SOFT_STOPL1_LIMITEDWARNcommunication:WARN(+5), resource:WARN(+5)1777989509.507576
L1_LIMITEDL3_EMERGENCY_STOPFATALcommunication:FATAL(+30), resource:WARN(+5)1777989512.647168
L3_EMERGENCY_STOPL2_SOFT_STOPERRORcommunication:WARN(+5), resource:WARN(+5)1777989514.235602
L2_SOFT_STOPL1_LIMITEDWARNcommunication:WARN(+5), resource:WARN(+5)1777989518.076234

Event Timeline (last 20)

TimeSourceLevelMessage
2026-05-05T21:58:34.956775_system_INFOMode changed to L2_SOFT_STOP
2026-05-05T21:58:35.687446ChannelFreqCheckerERROR22 channels checked, worst: /apollo/perception/obstacles: perception_obstacle=present (updated 0.08s ago, ~10Hz)
2026-05-05T21:58:35.823027_system_INFOMode changed to L2_SOFT_STOP
2026-05-05T21:58:36.328428ChannelFreqCheckerERROR22 channels checked, worst: /apollo/perception/obstacles: perception_obstacle=present (updated 0.02s ago, ~10Hz)
2026-05-05T21:58:36.497003_system_INFOMode changed to L2_SOFT_STOP
2026-05-05T21:58:37.261806ChannelFreqCheckerERROR22 channels checked, worst: /apollo/perception/obstacles: perception_obstacle=present (updated 0.06s ago, ~10Hz)
2026-05-05T21:58:37.429196_system_INFOMode changed to L2_SOFT_STOP
2026-05-05T21:58:38.076302_system_INFOMode changed to L1_LIMITED
2026-05-05T21:58:39.063043_system_INFOMode changed to L1_LIMITED
2026-05-05T21:58:39.718104_system_INFOMode changed to L1_LIMITED
2026-05-05T21:58:40.608417_system_INFOMode changed to L1_LIMITED
2026-05-05T21:58:41.267334_system_INFOMode changed to L1_LIMITED
2026-05-05T21:58:42.201275_system_INFOMode changed to L1_LIMITED
2026-05-05T21:58:42.863603_system_INFOMode changed to L1_LIMITED
2026-05-05T21:58:43.768278_system_INFOMode changed to L1_LIMITED
2026-05-05T21:58:44.497656_system_INFOMode changed to L1_LIMITED
2026-05-05T21:58:45.423342_system_INFOMode changed to L1_LIMITED
2026-05-05T21:58:46.099019_system_INFOMode changed to L1_LIMITED
2026-05-05T21:58:47.003721_system_INFOMode changed to L1_LIMITED
2026-05-05T21:58:47.687041_system_INFOMode changed to L1_LIMITED