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set pcv diagns
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Signed-off-by: Yuki Takagi <[email protected]>
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@yuki-takagi-66
yuki-takagi-66 committed Nov 18, 2024
1 parent d6bd727 commit a42ea3c
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Showing 4 changed files with 299 additions and 102 deletions.
29 changes: 9 additions & 20 deletions autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -9,18 +9,10 @@ files:

units:
- path: /autoware/modes/local
type: and
list:
- { type: link, link: /autoware/vehicle }
- { type: link, link: /autoware/system }
- { type: link, link: /autoware/control/local }
type: stale

- path: /autoware/modes/remote
type: and
list:
- { type: link, link: /autoware/vehicle }
- { type: link, link: /autoware/system }
- { type: link, link: /autoware/control/remote }
type: stale

- path: /autoware/modes/stop
type: ok
Expand All @@ -32,8 +24,8 @@ units:
- { type: link, link: /autoware/localization }
- { type: link, link: /planning/autonomous_available }
- { type: link, link: /autoware/perception }
- { type: link, link: /autoware/control }
- { type: link, link: /autoware/vehicle }
- { type: link, link: /control/autonomous_available }
- { type: link, link: /vehicle/autonomous_available }
- { type: link, link: /autoware/system }

- path: /autoware/modes/pull_over
Expand All @@ -43,8 +35,8 @@ units:
- { type: link, link: /autoware/localization }
- { type: link, link: /planning/pull_over_available }
- { type: link, link: /autoware/perception }
- { type: link, link: /autoware/control }
- { type: link, link: /autoware/vehicle }
- { type: link, link: /control/pull_over_available }
- { type: link, link: /vehicle/pull_over_available }
- { type: link, link: /autoware/system }

- path: /autoware/modes/comfortable_stop
Expand All @@ -54,15 +46,12 @@ units:
- { type: link, link: /autoware/localization }
- { type: link, link: /planning/comfortable_stop_available }
- { type: link, link: /autoware/perception }
- { type: link, link: /autoware/control }
- { type: link, link: /autoware/vehicle }
- { type: link, link: /control/comfortable_stop_available }
- { type: link, link: /vehicle/comfortable_stop_available }
- { type: link, link: /autoware/system }

- path: /autoware/modes/emergency_stop
type: and
list:
- { type: link, link: /autoware/vehicle }
- { type: link, link: /autoware/system }
type: ok

- path: /autoware/debug/tools
type: and
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129 changes: 92 additions & 37 deletions autoware_launch/config/system/system_diagnostic_monitor/control.yaml
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Original file line number Diff line number Diff line change
@@ -1,74 +1,129 @@
units:
- path: /autoware/control
- path: /control/autonomous_available
type: and
list:
- { type: link, link: /autoware/control/topic_rate_check/trajectory_follower }
- { type: link, link: /autoware/control/topic_rate_check/control_command }
- { type: link, link: /autoware/control/node_alive_monitoring/vehicle_cmd_gate }
- { type: link, link: /autoware/control/emergency_braking }
- { type: link, link: /autoware/control/performance_monitoring/lane_departure }
- { type: link, link: /autoware/control/performance_monitoring/trajectory_deviation }
- { type: link, link: /autoware/control/performance_monitoring/control_state }
- { type: link, link: /autoware/control/collision_detector }

- path: /autoware/control/local
- { type: link, link: /control/emergency_stop }
- { type: link, link: /control/pull_over }
- { type: link, link: /control/comfortable_stop }

- path: /control/pull_over_available
type: and
list:
- { type: link, link: /autoware/control/topic_rate_check/external_cmd_selector }
- { type: link, link: /autoware/control/topic_rate_check/external_cmd_converter }
- { type: link, link: /control/emergency_stop }
- { type: link, link: /control/comfortable_stop }

- path: /autoware/control/remote
- path: /control/comfortable_stop_available
type: and
list:
- { type: link, link: /autoware/control/topic_rate_check/external_cmd_selector }
- { type: link, link: /autoware/control/topic_rate_check/external_cmd_converter }
- { type: link, link: /control/emergency_stop }

- path: /autoware/control/topic_rate_check/trajectory_follower
type: diag
node: topic_state_monitor_trajectory_follower_control_cmd
name: control_topic_status
# *******************************************************************************
# NOTE: Please modify this section according to your environment and requirements.
# *******************************************************************************
- path: /control/emergency_stop
type: and
list:
- { type: link, link: /control/001-topic_status/control_command-error }
- { type: link, link: /control/004-lane_departure-error }
- { type: link, link: /control/005-trajectory_deviation-error }
- { type: link, link: /control/009-aeb_emergency_stop }
# - { type: link, link: /control/010-max_distance_deviation-error }
# - { type: link, link: /control/011-slip_detection }
- { type: link, link: /control/collision_detector }

- path: /control/comfortable_stop
type: and

- path: /control/pull_over
type: and

- path: /control/none
type: and
list:
- { type: link, link: /control/003-gate_heartbeat }
- { type: link, link: /control/007-external_command_converter_heartbeat }
- { type: link, link: /control/008-external_command_selector_heartbeat }

# Intermediate paths
- path: /control/001-topic_status/control_command-error
type: warn-to-ok
item:
type: link
link: /control/001-topic_status/control_command

- path: /control/004-lane_departure-error
type: warn-to-ok
item:
type: link
link: /control/004-lane_departure

- path: /control/005-trajectory_deviation-error
type: warn-to-ok
item:
type: link
link: /control/005-trajectory_deviation

- path: /autoware/control/topic_rate_check/control_command
- path: /control/010-max_distance_deviation-error
type: warn-to-ok
item:
type: link
link: /control/010-max_distance_deviation

- path: /control/001-topic_status/control_command
type: diag
node: topic_state_monitor_control_command_control_cmd
name: control_topic_status
timeout: 1.0

- path: /autoware/control/node_alive_monitoring/vehicle_cmd_gate
- path: /control/003-gate_heartbeat
type: diag
node: vehicle_cmd_gate
name: heartbeat
timeout: 1.0

- path: /autoware/control/emergency_braking
type: diag
node: autonomous_emergency_braking
name: aeb_emergency_stop

- path: /autoware/control/performance_monitoring/lane_departure
- path: /control/004-lane_departure
type: diag
node: lane_departure_checker_node
name: lane_departure
timeout: 1.0

- path: /autoware/control/performance_monitoring/trajectory_deviation
- path: /control/005-trajectory_deviation
type: diag
node: lane_departure_checker_node
name: trajectory_deviation
timeout: 1.0

- path: /autoware/control/performance_monitoring/control_state
- path: /control/007-external_command_converter_heartbeat
type: diag
node: controller_node_exe
name: control_state
node: external_cmd_converter
name: remote_control_topic_status
timeout: 1.0

- path: /autoware/control/topic_rate_check/external_cmd_selector
- path: /control/008-external_command_selector_heartbeat
type: diag
node: external_cmd_selector
name: heartbeat
timeout: 1.0

- path: /autoware/control/topic_rate_check/external_cmd_converter
- path: /control/009-aeb_emergency_stop
type: diag
node: external_cmd_converter
name: remote_control_topic_status
node: autonomous_emergency_braking
name: aeb_emergency_stop
timeout: 1.0

- path: /control/010-max_distance_deviation
type: diag
node: control_validator
name: control_validation_max_distance_deviation
timeout: 1.0

- path: /control/011-slip_detection
type: diag
node: slip_detector
name: slip_status
timeout: 3.0

- path: /autoware/control/collision_detector
- path: /control/collision_detector
type: diag
node: collision_detector
name: collision_detect
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