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safetymanager/reports/status.json

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{
"ChannelFreqChecker": {
"level": "WARN",
"message": "22 channels checked, worst: /apollo/sensor/velodyne64/compensator/PointCloud2: no data (expect ~10Hz)",
"timestamp": 1777989527.510234,
"details": {
"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": {}
}
},
"raw_value": null,
"tags": [
"lidar"
]
},
"ResourceCheck": {
"level": "WARN",
"message": "Disk usage: 87.2%",
"timestamp": 1777989527.677516,
"details": {
"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
},
"raw_value": null,
"tags": []
},
"ProcessCheck": {
"level": "OK",
"message": "All 4 processes running",
"timestamp": 1777989527.681988,
"details": {},
"raw_value": null,
"tags": []
},
"ChassisCheck": {
"level": "OK",
"message": "Chassis OK (mode=1, gear=3, speed=0.2m/s, engine=True)",
"timestamp": 1777989527.682084,
"details": {
"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"
},
"raw_value": null,
"tags": [
"chassis"
]
},
"SystemHealth": {
"level": "OK",
"message": "System UP 1d 7h | App UP 85s",
"timestamp": 1777989527.683452,
"details": {
"system_uptime": "1d 7h",
"app_uptime_seconds": 85,
"boot_time": "2026-05-04 14:36:33",
"cpu_freq_mhz": "2006.7/4783.3"
},
"raw_value": null,
"tags": []
},
"FileExistCheck": {
"level": "OK",
"message": "All 5 files exist",
"timestamp": 1777989527.683581,
"details": {
"checked": 5
},
"raw_value": null,
"tags": []
},
"LocalizationCheck": {
"level": "OK",
"message": "Localization OK",
"timestamp": 1777989527.683624,
"details": {
"status_value": 0,
"state": "OK",
"threshold": 3
},
"raw_value": null,
"tags": [
"localization"
]
},
"LatencyCheck": {
"level": "OK",
"message": "7/7 OK, worst: chassis: data_age 2ms (OK, threshold=500ms)",
"timestamp": 1777989527.685936,
"details": {
"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
}
}
},
"raw_value": null,
"tags": [
"latency"
]
},
"ControlDeviationCheck": {
"level": "WARN",
"message": "Control deviation: Station error: 1.579m",
"timestamp": 1777989527.68629,
"details": {
"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"
},
"raw_value": null,
"tags": [
"control"
]
},
"CollisionCheck": {
"level": "OK",
"message": "No collision risk (10 obstacles, strategy=NORMAL)",
"timestamp": 1777989527.6866,
"details": {
"total_cycles": 46,
"cycles_no_data": 0,
"total_no_data_events": 0,
"subscription_retries": 0,
"obstacle_count": 10,
"strategy": "NORMAL"
},
"raw_value": null,
"tags": [
"collision"
]
},
"GnssSignalCheck": {
"level": "OK",
"message": "GNSS OK (sol=50, sats=17)",
"timestamp": 1777989527.686729,
"details": {
"sol_type": "50",
"num_satellites": 17,
"diff_age": 2.0,
"imu_freq_hz": 99.5,
"signal_lost_total": 0,
"consecutive_lost": 0
},
"raw_value": null,
"tags": [
"gnss"
]
},
"TrafficLightCheck": {
"level": "OK",
"message": "Traffic lights OK (1 lights: 3:1)",
"timestamp": 1777989527.686849,
"details": {
"light_count": 1,
"data_age": "0.08s",
"detection_freq": "0.0Hz",
"color_summary": {
"3": 1
}
},
"raw_value": null,
"tags": [
"traffic_light"
]
},
"guardian_stats": {
"current_mode": "L1_LIMITED",
"previous_mode": "L2_SOFT_STOP",
"mode_elapsed_seconds": 9.6,
"action_count": 17,
"takeover_requested": false,
"transition_count": 11
},
"current_mode": "L1_LIMITED",
"last_action": {
"action_type": "LIMIT_SPEED",
"parameters": {
"max_speed_kph": 20,
"allow_lane_change": false,
"min_speed_kph": 0,
"deceleration_mps2": 1.0
},
"request_takeover": false
},
"mode_transitions": [
{
"from_mode": "L3_EMERGENCY_STOP",
"to_mode": "L2_SOFT_STOP",
"trigger_level": "ERROR",
"trigger_source": "communication:WARN(+5), resource:WARN(+5)",
"is_escalation": false,
"timestamp": 1777989508.60223
},
{
"from_mode": "L2_SOFT_STOP",
"to_mode": "L1_LIMITED",
"trigger_level": "WARN",
"trigger_source": "communication:WARN(+5), resource:WARN(+5)",
"is_escalation": false,
"timestamp": 1777989509.507576
},
{
"from_mode": "L1_LIMITED",
"to_mode": "L3_EMERGENCY_STOP",
"trigger_level": "FATAL",
"trigger_source": "communication:FATAL(+30), resource:WARN(+5)",
"is_escalation": true,
"timestamp": 1777989512.647168
},
{
"from_mode": "L3_EMERGENCY_STOP",
"to_mode": "L2_SOFT_STOP",
"trigger_level": "ERROR",
"trigger_source": "communication:WARN(+5), resource:WARN(+5)",
"is_escalation": false,
"timestamp": 1777989514.235602
},
{
"from_mode": "L2_SOFT_STOP",
"to_mode": "L1_LIMITED",
"trigger_level": "WARN",
"trigger_source": "communication:WARN(+5), resource:WARN(+5)",
"is_escalation": false,
"timestamp": 1777989518.076234
}
],
"statistics": {
"resource": {
"cpu": {
"usage_percent": 7.0,
"temperature_c": 57.0,
"freq_mhz": 2093.1,
"load_avg_1m": 0.0,
"load_avg_5m": 0.0,
"load_avg_15m": 0.0,
"core_count": 24,
"timestamp": 1777989527.881468
},
"memory": {
"total_mb": 128436.0,
"used_mb": 9439.0,
"available_mb": 116844.0,
"usage_percent": 9.0,
"cached_mb": 116345.0,
"swap_total_mb": 2048.0,
"swap_used_mb": 5.0,
"timestamp": 1777989527.8998735
},
"disks": [
{
"device": "nvme1n1p2",
"mount_point": "/apollo",
"total_gb": 767.9,
"used_gb": 635.6,
"available_gb": 93.3,
"usage_percent": 87.2,
"timestamp": 1777989527.9001834
},
{
"device": "sda1",
"mount_point": "/media/apollo/KINGSTON",
"total_gb": 476.9,
"used_gb": 224.0,
"available_gb": 252.9,
"usage_percent": 47.0,
"timestamp": 1777989527.902823
}
],
"timestamp": 1777989527.6893094,
"gpu": {
"utilization_percent": 7.0,
"temperature_c": 38.0,
"memory_used_mb": 713.0,
"memory_total_mb": 10240.0,
"memory_free_mb": 9166.0,
"power_draw_w": 80.1,
"timestamp": 1777989527.8997183
}
},
"process": {
"mainboard_dags": [
{
"dag_path": "modules/monitor/dag/monitor.dag",
"process_group": "monitor",
"loaded": true,
"pid": 0
},
{
"dag_path": "modules/studio_connector/studio_connector.dag",
"process_group": "mainboard_default_279962",
"loaded": true,
"pid": 0
}
],
"mainboard_groups": [
{
"group_name": "monitor",
"pids": [
279847
],
"dag_count": 1,
"dags": [
"modules/monitor/dag/monitor.dag"
],
"running": true
},
{
"group_name": "mainboard_default_279962",
"pids": [
279972
],
"dag_count": 1,
"dags": [
"modules/studio_connector/studio_connector.dag"
],
"running": true
}
],
"general_processes": [],
"total_mainboard_count": 2,
"total_general_count": 0,
"timestamp": 1777989527.90308
},
"latency": {
"modules": {},
"total_modules": 0,
"timestamp": 1777989527.9756706
}
},
"_meta": {
"timestamp": "2026-05-05 21:58:56",
"epoch": 1777989536.8914247
}
}
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