feat(#105): add fault correlation engine for root-cause analysis by mfaferek93 · Pull Request #121 · selfpatch/ros2_medkit

mfaferek93 · 2026-01-19T19:38:14Z

Pull Request

Summary

Implement hierarchical and auto-cluster correlation modes to reduce fault noise by identifying root causes and grouping related faults.

Key features:

Hierarchical mode: detect root cause → symptom relationships
Auto-cluster mode: group similar faults within time window
YAML-based configuration with pattern wildcards
Muted faults tracking and auto-clear on root cause resolution
Gateway API support with include_muted/include_clusters params

New messages: MutedFaultInfo.msg, ClusterInfo.msg
Extended: GetFaults.srv, ClearFault.srv, FaultEvent.msg

Issue

Link the related issue (required):

closes Add fault correlation/muting capability to FaultManager to handle "expected cascades" of faults. #105

Type

Bug fix
New feature or tests
Breaking change
Documentation only

Testing

How was this tested / how should reviewers verify it?

Checklist

Breaking changes are clearly described (and announced in docs / changelog if needed)
Tests were added or updated if needed
Docs were updated if behavior or public API changed

Copilot

Pull request overview

This PR implements a fault correlation engine for root-cause analysis that reduces noise by identifying hierarchical relationships between faults and grouping related faults into clusters. The feature addresses issue #105 by enabling automatic detection of fault cascades where symptom faults are muted when their root cause is identified.

Changes:

Adds hierarchical correlation mode to detect root cause → symptom relationships with automatic symptom muting
Adds auto-cluster mode to group similar faults occurring within time windows
Extends GetFaults.srv, ClearFault.srv, and FaultEvent.msg with correlation fields (muted faults, clusters, auto-cleared codes)
Implements YAML-based configuration with wildcard pattern matching
Integrates correlation engine into fault_manager_node with parameter-based enablement
Adds comprehensive unit and integration tests for pattern matching, config parsing, and correlation logic
Updates REST API to expose correlation data via query parameters
Includes complete documentation and Postman collection updates

Reviewed changes

Copilot reviewed 29 out of 29 changed files in this pull request and generated 6 comments.

Show a summary per file

File	Description
src/ros2_medkit_msgs/msg/MutedFaultInfo.msg	New message type for muted symptom fault metadata
src/ros2_medkit_msgs/msg/ClusterInfo.msg	New message type for fault cluster information
src/ros2_medkit_msgs/srv/GetFaults.srv	Extended with include_muted/include_clusters flags and response fields
src/ros2_medkit_msgs/srv/ClearFault.srv	Extended with auto_cleared_codes response field
src/ros2_medkit_msgs/msg/FaultEvent.msg	Extended with auto_cleared_codes for EVENT_CLEARED
src/ros2_medkit_msgs/CMakeLists.txt	Registers new message types
src/ros2_medkit_fault_manager/include//correlation/.hpp	Core correlation engine headers (types, config parser, pattern matcher, engine)
src/ros2_medkit_fault_manager/src/correlation/*.cpp	Core correlation engine implementation
src/ros2_medkit_fault_manager/src/fault_manager_node.cpp	Integrates correlation engine into fault processing and service handlers
src/ros2_medkit_fault_manager/include/*/fault_manager_node.hpp	Adds correlation engine member and helper methods
src/ros2_medkit_fault_manager/CMakeLists.txt	Adds correlation source files and unit test targets
src/ros2_medkit_fault_manager/test/test_*.cpp	Unit tests for pattern matcher, config parser, and correlation engine
src/ros2_medkit_fault_manager/test/test_integration.test.py	Integration tests for hierarchical and auto-cluster modes
src/ros2_medkit_fault_manager/test/test_correlation.yaml	Test correlation configuration
src/ros2_medkit_gateway/include/*/fault_manager.hpp	Extended get_faults signature with correlation parameters
src/ros2_medkit_gateway/src/fault_manager.cpp	Passes correlation parameters to service and formats response
src/ros2_medkit_gateway/src/http/handlers/fault_handlers.cpp	Parses correlation query params and includes correlation data in responses
src/ros2_medkit_fault_manager/README.md	Documents correlation configuration and usage
docs/tutorials/fault-correlation.rst	Complete tutorial for configuring and using correlation
docs/tutorials/index.rst	Adds correlation tutorial to index
postman/collections/*.json	Updates API documentation with correlation endpoints

src/ros2_medkit_fault_manager/src/fault_manager_node.cpp

src/ros2_medkit_fault_manager/src/correlation/correlation_engine.cpp

Implement hierarchical and auto-cluster correlation modes to reduce fault noise by identifying root causes and grouping related faults. Key features: - Hierarchical mode: detect root cause → symptom relationships - Auto-cluster mode: group similar faults within time window - YAML-based configuration with pattern wildcards - Muted faults tracking and auto-clear on root cause resolution - Gateway API support with include_muted/include_clusters params New messages: MutedFaultInfo.msg, ClusterInfo.msg Extended: GetFaults.srv, ClearFault.srv, FaultEvent.msg

Add new requests demonstrating fault correlation query parameters: - GET Faults with Correlation Data (include_muted + include_clusters) - GET Faults with Muted Details Only - GET Faults with Cluster Details Only Update existing endpoint descriptions to document: - muted_count/cluster_count fields in GET /faults response - auto_cleared_codes in DELETE clear fault response - Faults folder description with correlation feature overview

Add comprehensive tutorial covering: - Hierarchical mode (root cause → symptom relationships) - Auto-cluster mode (grouping similar faults) - YAML configuration with patterns and rules - REST API query parameters for correlation data - Complete example configuration - Troubleshooting guide

src/ros2_medkit_fault_manager/src/correlation/config_parser.cpp

Copilot

Pull request overview

Copilot reviewed 29 out of 29 changed files in this pull request and generated 3 comments.

src/ros2_medkit_fault_manager/src/correlation/correlation_engine.cpp

- Fix data race in PatternMatcher::get_compiled() by adding mutex protection for the mutable compiled_cache_ member - Add retroactive_mute_codes field to ProcessFaultResult for tracking faults that should have been muted before cluster activation - Populate retroactive_mute_codes when cluster transitions from pending to active (reaches min_count threshold) - Add debug logging for retroactive muting in fault_manager_node - Add unit test AutoClusterRetroactiveMuting to verify behavior

Add 5-second timer to periodically call cleanup_expired() on the correlation engine. This prevents stale pending root causes and pending clusters from accumulating in memory when faults are reported infrequently. Add unit tests: - CleanupExpiredRemovesPendingRootCauses - CleanupExpiredRemovesPendingClusters

mfaferek93 · 2026-01-20T19:29:57Z

hey @bburda @nnarain PR grew a bit 😅

where to start: docs/tutorials/fault_correlation.rst - explains how it works (hierarchical vs auto-cluster)

The benefit is that 55 new tests should give peace of mind 🙂

- Skip regex compilation for non-wildcard patterns (perf improvement) - Add validation error for min_count=0 in auto-cluster rules - Add TODO documenting known limitation: pending_clusters_ not cleaned up when fault is cleared before cluster reaches min_count

src/ros2_medkit_fault_manager/src/correlation/config_parser.cpp

src/ros2_medkit_fault_manager/src/correlation/correlation_engine.cpp

src/ros2_medkit_fault_manager/src/fault_manager_node.cpp

src/ros2_medkit_fault_manager/include/ros2_medkit_fault_manager/correlation/pattern_matcher.hpp

docs/tutorials/fault-correlation.rst

- Add inline symptom codes support in YAML config (codes: [...] syntax) - Refactor severity_to_string/severity_rank to shared types.hpp/cpp - Add correlation.cleanup_interval_sec parameter (default 5.0s) - Update TODO(#105) → TODO(#127) for pending_clusters cleanup - Add PlantUML sequence diagrams to fault-correlation tutorial Addresses review comments: - Implement missing inline codes parsing (#1) - Fix orphaned TODO reference (#2) - Consolidate duplicated severity functions (#3) - Parameterize magic number 5s (#4) - Add flow diagrams to docs (#6)

bburda

LGTM

mfaferek93 marked this pull request as ready for review January 19, 2026 19:55

Copilot AI review requested due to automatic review settings January 19, 2026 19:55

mfaferek93 marked this pull request as draft January 19, 2026 19:56

Copilot started reviewing on behalf of mfaferek93 January 19, 2026 19:56 View session

Copilot AI reviewed Jan 19, 2026

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mfaferek93 force-pushed the 105/faultsMutating branch 2 times, most recently from 73ecb79 to d4f6574 Compare January 19, 2026 20:14

mfaferek93 self-assigned this Jan 19, 2026

mfaferek93 added the enhancement New feature or request label Jan 19, 2026

mfaferek93 added this to the MS6: Fault Management System milestone Jan 19, 2026

mfaferek93 added 3 commits January 19, 2026 20:27

mfaferek93 force-pushed the 105/faultsMutating branch from d4f6574 to 5c9cf0e Compare January 19, 2026 20:27

nnarain reviewed Jan 20, 2026

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style: fix clang-format and flake8 formatting issues

6d39996

mfaferek93 marked this pull request as ready for review January 20, 2026 18:18

mfaferek93 requested a review from Copilot January 20, 2026 18:19

Copilot started reviewing on behalf of mfaferek93 January 20, 2026 18:20 View session

Copilot AI reviewed Jan 20, 2026

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mfaferek93 added 2 commits January 20, 2026 18:39

mfaferek93 requested review from bburda and nnarain January 20, 2026 19:30

mfaferek93 mentioned this pull request Jan 20, 2026

Extract common YAML parsing helpers to a shared utility header to reduce code duplication and improve consistency #126

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mfaferek93 force-pushed the 105/faultsMutating branch from a6b7781 to e3f2c4d Compare January 20, 2026 20:00

bburda reviewed Jan 21, 2026

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mfaferek93 requested a review from bburda January 21, 2026 19:02

bburda approved these changes Jan 21, 2026

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mfaferek93 merged commit 8414140 into main Jan 21, 2026
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mfaferek93 commented Jan 20, 2026

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mfaferek93 commented Jan 19, 2026 •

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