Class FaultManager

Class Documentation

class FaultManager

Manager for fault management operations Provides interface to the ros2_medkit_fault_manager services

Public Functions

explicit FaultManager(rclcpp::Node *node)
FaultResult report_fault(const std::string &fault_code, uint8_t severity, const std::string &description, const std::string &source_id)

Report a fault from a component

Parameters:

  • fault_code – Unique fault identifier

  • severity – Fault severity (0=INFO, 1=WARN, 2=ERROR, 3=CRITICAL)

  • description – Human-readable description

  • source_id – Component identifier (namespace path)

Returns:

FaultResult with success status

FaultResult list_faults(const std::string &source_id = "", bool include_prefailed = true, bool include_confirmed = true, bool include_cleared = false, bool include_healed = false, bool include_muted = false, bool include_clusters = false)

Get all faults, optionally filtered by component

Parameters:

  • source_id – Optional component identifier to filter by (empty = all)

  • include_prefailed – Include PREFAILED status faults (debounce not yet confirmed)

  • include_confirmed – Include CONFIRMED status faults

  • include_cleared – Include CLEARED status faults

  • include_healed – Include HEALED and PREPASSED status faults

  • include_muted – Include muted faults (correlation symptoms) in response

  • include_clusters – Include cluster info in response

Returns:

FaultResult with array of faults (and optionally muted_faults and clusters)

FaultWithEnvResult get_fault_with_env(const std::string &fault_code, const std::string &source_id = "")

Get a specific fault by code with environment data

Parameters:

  • fault_code – Fault identifier

  • source_id – Optional component identifier to verify fault belongs to component

Returns:

FaultWithEnvResult with fault and environment_data, or error if not found

FaultResult get_fault(const std::string &fault_code, const std::string &source_id = "")

Get a specific fault by code (JSON result - legacy)

Note

Thread-safe: delegates to get_fault_with_env() which acquires get_mutex_. Do NOT call this method while holding get_mutex_.

Parameters:

  • fault_code – Fault identifier

  • source_id – Optional component identifier to verify fault belongs to component

Returns:

FaultResult with fault data or error if not found

FaultResult clear_fault(const std::string &fault_code)

Clear a fault

Parameters:

fault_code – Fault identifier to clear

Returns:

FaultResult with success status

FaultResult get_snapshots(const std::string &fault_code, const std::string &topic = "")

Get snapshots for a fault

Parameters:

  • fault_code – Fault identifier

  • topic – Optional topic filter (empty = all topics)

Returns:

FaultResult with snapshot data (JSON in data field)

FaultResult get_rosbag(const std::string &fault_code)

Get rosbag file info for a fault

Parameters:

fault_code – Fault identifier

Returns:

FaultResult with rosbag file path and metadata

FaultResult list_rosbags(const std::string &entity_fqn)

Get all rosbag files for an entity (batch operation)

Parameters:

entity_fqn – Entity fully qualified name for prefix matching

Returns:

FaultResult with arrays of rosbag metadata

bool is_available() const

Check if fault manager service is available

Returns:

true if services are available

Public Static Functions

static json fault_to_json(const ros2_medkit_msgs::msg::Fault &fault)

Convert Fault message to JSON (static utility for reuse by SSE handler)