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import yaml
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from pathlib import Path
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from typing import Dict, Any, List
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import logging
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logger = logging.getLogger("ConfigManager")
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class ConfigManager:
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DEFAULT_CONFIG_DIR = "configs"
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def __init__(self, config_dir: str = None):
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base = Path(__file__).resolve().parent
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self.config_dir = base / (config_dir or self.DEFAULT_CONFIG_DIR)
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self._configs: Dict[str, Dict] = {}
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self._callbacks: Dict[str, List[callable]] = {}
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self._load_all_configs()
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def _load_all_configs(self):
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config_map = {
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"channel_freq": "channel_freq_checker_conf.yaml",
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"process": "process_checker_conf.yaml",
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"resource": "resource_checker_conf.yaml",
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"analyzer_rules": "rule_matcher_conf.yaml",
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"guardian": "guardian_conf.yaml",
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"chassis": "chassis_checker_conf.yaml",
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"system_health": "system_health_checker_conf.yaml",
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"file_exist": "file_exist_checker_conf.yaml",
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"localization": "localization_checker_conf.yaml",
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"latency": "latency_checker_conf.yaml",
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"control": "control_checker_conf.yaml",
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"collision": "collision_checker_conf.yaml",
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"gnss": "gnss_checker_conf.yaml",
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"traffic_light": "traffic_light_checker_conf.yaml",
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"resource_statistics": "resource_statistic_conf.yaml",
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"process_statistics": "process_statistic_conf.yaml",
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"latency_statistics": "latency_statistic_conf.yaml",
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}
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for key, filename in config_map.items():
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path = self.config_dir / filename
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if path.exists():
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self._configs[key] = self._load_yaml(path)
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logger.info(f"Loaded config: {filename}")
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else:
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logger.warning(f"Config not found: {path}, using defaults")
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self._configs[key] = self._get_default_config(key)
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def _load_yaml(self, path: Path) -> Dict:
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with open(path, "r", encoding="utf-8") as f:
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return yaml.safe_load(f) or {}
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def _get_default_config(self, key: str) -> Dict:
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defaults = {
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"channel_freq": {
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"items": [
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{
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"name": "/apollo/canbus/chassis",
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"level": "ERROR",
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"expect_freq": 100,
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"lower_limit": 50,
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"upper_limit": 150,
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"tags": ["chassis", "critical"],
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},
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{
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"name": "/apollo/control",
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"level": "FATAL",
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"expect_freq": 100,
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"lower_limit": 80,
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"upper_limit": 120,
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"tags": ["control", "critical"],
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},
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{
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"name": "/apollo/localization/pose",
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"level": "ERROR",
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"expect_freq": 100,
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"lower_limit": 80,
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"upper_limit": 120,
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"tags": ["localization", "critical"],
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},
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{
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"name": "/apollo/perception/obstacles",
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"level": "ERROR",
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"expect_freq": 10,
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"lower_limit": 6,
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"upper_limit": 15,
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"tags": ["perception", "critical"],
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},
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{
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"name": "/apollo/perception/traffic_light",
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"level": "ERROR",
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"expect_freq": 10,
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"lower_limit": 6,
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"upper_limit": 15,
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"tags": ["traffic_light"],
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},
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{
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"name": "/apollo/planning",
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"level": "ERROR",
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"expect_freq": 10,
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"lower_limit": 8,
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"upper_limit": 12,
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"tags": ["planning", "critical"],
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},
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{
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"name": "/apollo/prediction",
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"level": "ERROR",
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"expect_freq": 10,
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"lower_limit": 8,
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"upper_limit": 12,
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"tags": ["prediction"],
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},
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]
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},
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"process": {
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"processes": [
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{"name": "perception", "level": "ERROR"},
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{"name": "planning", "level": "ERROR"},
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{"name": "control", "level": "FATAL"},
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]
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},
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"resource": {
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"resource": {
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"cpu": {"usage_warning": 80, "usage_error": 90},
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"memory": {"available_warning": 2000, "available_error": 1000},
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}
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},
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"guardian": {
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"error_threshold": 25,
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"fatal_threshold": 50,
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"hysteresis_window": 3,
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},
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"chassis": {
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"data_timeout": 1.0,
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"warn_modes": [],
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},
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"system_health": {},
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"file_exist": {
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"items": [
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{"name": "novatel_localization_extrinsics.yaml",
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"path": "./modules/localization/msf/params/novatel_localization_extrinsics.yaml",
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"level": "FATAL"},
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{"name": "static_transform_conf.pb.txt",
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"path": "./modules/transform/conf/static_transform_conf.pb.txt",
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"level": "FATAL"},
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{"name": "sensor_meta.pb.txt",
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"path": "./modules/perception/data/conf/sensor_meta.pb.txt",
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"level": "ERROR"},
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]
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},
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"localization": {
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"fatal_threshold": 3,
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"status_timeout": 2.0,
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},
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"latency": {
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"items": [
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{"name": "chassis",
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"channel": "/apollo/canbus/chassis",
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"level": "WARN", "max_delay_ms": 500},
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{"name": "control",
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"channel": "/apollo/control",
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"level": "WARN", "max_delay_ms": 500},
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{"name": "localization",
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"channel": "/apollo/localization/pose",
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"level": "WARN", "max_delay_ms": 500},
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{"name": "perception obstacle",
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"channel": "/apollo/perception/obstacles",
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"level": "WARN", "max_delay_ms": 1000},
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{"name": "traffic light",
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"channel": "/apollo/perception/traffic_light",
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"level": "WARN", "max_delay_ms": 1000},
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{"name": "planning",
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"channel": "/apollo/planning",
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"level": "WARN", "max_delay_ms": 1000},
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{"name": "prediction",
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"channel": "/apollo/prediction",
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"level": "WARN", "max_delay_ms": 1000},
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]
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},
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"control": {
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"threshold": {"speed_kph": 5.0, "accel_mps2": 1.0, "steer_pct": 10.0},
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"data_timeout": 1.0,
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},
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"collision": {
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"warn_sec": 5.0,
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"error_sec": 4.0,
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"fatal_sec": 3.0,
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"type": "NORMAL",
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"warn_strategy_conf": {
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"collision_check_angle": 90.0,
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"collision_check_distance": 100.0,
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"adc_extended": {"front": 0.2, "lateral": 0.2, "back": 0.2},
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"speed_threshold_mps": 0.01,
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"steering_threshold_percentage": 50,
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},
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},
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"gnss": {
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"gnss": {
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"min_satellites": 6,
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"max_diff_age": 5.0,
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"max_pdop": 5.0,
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"max_hdop": 3.0,
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"max_vdop": 4.0,
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"require_fixed_solution": True,
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"data_timeout": 3.0,
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"imu_expect_freq": 100,
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"imu_freq_lower_limit": 60,
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"max_consecutive_lost": 5,
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},
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},
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"traffic_light": {
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"traffic_light": {
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"data_timeout": 2.0,
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"min_confidence": 0.5,
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"max_red_duration": 300,
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"max_no_data_duration": 10.0,
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"blink_yellow_as_red": True,
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"max_consecutive_lost": 10,
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"freq_window": 50,
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},
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},
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"resource_statistics": {
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"disk_patterns": ["sd[a-z][0-9]*", "nvme[\\w]*", "ssd[\\w]*"],
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"collect_interval": 1.0,
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"history_size": 300,
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},
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"process_statistics": {
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"general_process_regex": [".*/apollo/scripts/.*", "cyber_recorder record .*"],
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"collect_interval": 5.0,
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"history_size": 60,
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},
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"latency_statistics": {
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"compensator_topic": "/apollo/sensor/lidar16/compensator/PointCloud2",
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"collect_interval": 1.0,
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"history_size": 300,
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},
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}
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return defaults.get(key, {})
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def get(self, section: str, key: str = None, default: Any = None) -> Any:
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config = self._configs.get(section, {})
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if key is None or not isinstance(key, str):
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if isinstance(key, dict):
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# 兼容用法: get("section", {}) 中 {} 被误当作 key，实际应是获取整个 section
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return config if config else key
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return config
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return config.get(key, default)
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def register_hot_update(self, section: str, callback: callable):
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self._callbacks.setdefault(section, []).append(callback)
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def hot_update(self, section: str, new_config: Dict):
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if section not in self._configs:
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logger.error(f"Unknown config section: {section}")
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return
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old_config = self._configs[section].copy()
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self._configs[section].update(new_config)
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logger.info(f"Hot updated config: {section}")
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for cb in self._callbacks.get(section, []):
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try:
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cb(old_config, self._configs[section])
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except Exception as e:
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logger.error(f"Callback error: {e}")
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