diff --git a/docs/design/autoware-interfaces/ad-api/features/diagnostics.md b/docs/design/autoware-interfaces/ad-api/features/diagnostics.md index 2cf7afd29a4..40aaeebfe76 100644 --- a/docs/design/autoware-interfaces/ad-api/features/diagnostics.md +++ b/docs/design/autoware-interfaces/ad-api/features/diagnostics.md @@ -4,6 +4,7 @@ - {{ link_ad_api('/api/system/diagnostics/struct') }} - {{ link_ad_api('/api/system/diagnostics/status') }} +- {{ link_ad_api('/api/system/diagnostics/reset') }} ## Description @@ -19,9 +20,16 @@ For error level, the same value as `diagnostic_msgs/msg/DiagnosticStatus` is use The diagnostics data has static and dynamic parts, so the API provides these separately for efficiency. Below is an example of a message that corresponds to the above diagram. -The static part of the diagnostic is published only once as the DiagGraphStruct that contains nodes and links. -The links specify dependencies between nodes by index into an array of nodes. +The static part of the diagnostic is published only once as the DiagGraphStruct that contains nodes, diags, and links. +The links specify dependencies between nodes and nodes/diags by index into an array of them. +Note that the index for diags is offset by the size of the nodes. The dynamic part of the diagnostic is published periodically as DiagGraphStatus. -The status has an array of nodes of the same length as the struct, with the same index representing the same functional unit. +The status has nodes and diags of the same length as the struct, with the same index representing the same functional unit. ![graph-data](./diagnostics/data.drawio.svg) + +Some functional unit levels may be latched. If the abnormality continues for a certain period, the level value will not return to normal. +Use input_level to know the level before it was latched. Also, use latch_level to know if the latch is currently activated. +To restore the level after the latch has been activated, use the reset API. + +![level](./diagnostics/level.drawio.svg) diff --git a/docs/design/autoware-interfaces/ad-api/features/diagnostics/data.drawio.svg b/docs/design/autoware-interfaces/ad-api/features/diagnostics/data.drawio.svg index 1708b2beb6e..231923c70ef 100644 --- a/docs/design/autoware-interfaces/ad-api/features/diagnostics/data.drawio.svg +++ b/docs/design/autoware-interfaces/ad-api/features/diagnostics/data.drawio.svg @@ -1,1033 +1,2753 @@ - - - - -
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path: /mode/autonomous
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+ + 12 + + - + Text is not SVG - cannot display diff --git a/docs/design/autoware-interfaces/ad-api/features/diagnostics/level.drawio.svg b/docs/design/autoware-interfaces/ad-api/features/diagnostics/level.drawio.svg new file mode 100644 index 00000000000..873d7b1262f --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/features/diagnostics/level.drawio.svg @@ -0,0 +1,966 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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+ + links[12] + + - + Text is not SVG - cannot display diff --git a/docs/design/autoware-interfaces/ad-api/list/api/system/diagnostics/reset.md b/docs/design/autoware-interfaces/ad-api/list/api/system/diagnostics/reset.md new file mode 100644 index 00000000000..05b6ef7eb2b --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/system/diagnostics/reset.md @@ -0,0 +1,16 @@ +--- +title: /api/system/diagnostics/reset +status: not released +method: function call +type: + name: autoware_adapi_v1_msgs/srv/ResetDiagGraph + res: + - name: status + text: response status +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +Reset the latch state of the diagnostic graph. +See [diagnostics](../../../../features/diagnostics.md) for details. +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/index.md b/docs/design/autoware-interfaces/ad-api/list/index.md index 52ec9e13d82..243af75b98d 100644 --- a/docs/design/autoware-interfaces/ad-api/list/index.md +++ b/docs/design/autoware-interfaces/ad-api/list/index.md @@ -53,6 +53,7 @@ | [/api/routing/set_route](./api/routing/set_route.md) | v1.0.0 | function call | | [/api/routing/set_route_points](./api/routing/set_route_points.md) | v1.0.0 | function call | | [/api/routing/state](./api/routing/state.md) | v1.0.0 | notification | +| [/api/system/diagnostics/reset](./api/system/diagnostics/reset.md) | not released | function call | | [/api/system/diagnostics/status](./api/system/diagnostics/status.md) | v1.3.0 | realtime stream | | [/api/system/diagnostics/struct](./api/system/diagnostics/struct.md) | v1.3.0 | notification | | [/api/system/heartbeat](./api/system/heartbeat.md) | v1.3.0 | realtime stream | diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DiagGraphStatus.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DiagGraphStatus.md index 1a4b797d41b..779a261c6c6 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DiagGraphStatus.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DiagGraphStatus.md @@ -2,6 +2,7 @@ # This file is generated by tools/autoware-interfaces/generate.py title: autoware_adapi_v1_msgs/msg/DiagGraphStatus uses: + - autoware_adapi_v1_msgs/msg/DiagLeafStatus - autoware_adapi_v1_msgs/msg/DiagNodeStatus --- @@ -12,6 +13,7 @@ uses: builtin_interfaces/Time stamp string id autoware_adapi_v1_msgs/DiagNodeStatus[] nodes +autoware_adapi_v1_msgs/DiagLeafStatus[] diags ``` {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DiagGraphStruct.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DiagGraphStruct.md index 953236dc942..76f64e13089 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DiagGraphStruct.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DiagGraphStruct.md @@ -2,6 +2,7 @@ # This file is generated by tools/autoware-interfaces/generate.py title: autoware_adapi_v1_msgs/msg/DiagGraphStruct uses: + - autoware_adapi_v1_msgs/msg/DiagLeafStruct - autoware_adapi_v1_msgs/msg/DiagLinkStruct - autoware_adapi_v1_msgs/msg/DiagNodeStruct --- @@ -13,6 +14,7 @@ uses: builtin_interfaces/Time stamp string id autoware_adapi_v1_msgs/DiagNodeStruct[] nodes +autoware_adapi_v1_msgs/DiagLeafStruct[] diags autoware_adapi_v1_msgs/DiagLinkStruct[] links ``` diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DiagLeafStatus.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DiagLeafStatus.md new file mode 100644 index 00000000000..815e8a75e65 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DiagLeafStatus.md @@ -0,0 +1,22 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/DiagLeafStatus +used: + - autoware_adapi_v1_msgs/msg/DiagGraphStatus +uses: + - autoware_adapi_v1_msgs/msg/KvString +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +# The level of diagnostic_msgs/msg/DiagnosticStatus. +byte level +byte input_level +string message +string hardware_id +autoware_adapi_v1_msgs/KvString[] values +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DiagLeafStruct.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DiagLeafStruct.md new file mode 100644 index 00000000000..696237908e1 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DiagLeafStruct.md @@ -0,0 +1,15 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/DiagLeafStruct +used: + - autoware_adapi_v1_msgs/msg/DiagGraphStruct +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +string name +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DiagNodeStatus.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DiagNodeStatus.md index b808d46d288..c487b560a76 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DiagNodeStatus.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DiagNodeStatus.md @@ -11,6 +11,9 @@ used: ```txt # The level of diagnostic_msgs/msg/DiagnosticStatus. byte level +byte input_level +byte latch_level +bool is_dependent ``` {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/KvString.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/KvString.md new file mode 100644 index 00000000000..8010605cf29 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/KvString.md @@ -0,0 +1,16 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/KvString +used: + - autoware_adapi_v1_msgs/msg/DiagLeafStatus +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +string key +string value +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ResponseStatus.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ResponseStatus.md index f93d251274c..6d5a4932abd 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ResponseStatus.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ResponseStatus.md @@ -11,6 +11,7 @@ used: - autoware_adapi_v1_msgs/srv/GetVehicleSpecs - autoware_adapi_v1_msgs/srv/InitializeLocalization - autoware_adapi_v1_msgs/srv/ListManualControlMode + - autoware_adapi_v1_msgs/srv/ResetDiagGraph - autoware_adapi_v1_msgs/srv/SelectManualControlMode - autoware_adapi_v1_msgs/srv/SendMrmRequest - autoware_adapi_v1_msgs/srv/SetCooperationCommands diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/ResetDiagGraph.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/ResetDiagGraph.md new file mode 100644 index 00000000000..20ddfb19e11 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/ResetDiagGraph.md @@ -0,0 +1,16 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/srv/ResetDiagGraph +uses: + - autoware_adapi_v1_msgs/msg/ResponseStatus +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +--- +autoware_adapi_v1_msgs/ResponseStatus status +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/index.md b/docs/design/autoware-interfaces/ad-api/types/index.md index 0943f687cca..1a00f1de448 100644 --- a/docs/design/autoware-interfaces/ad-api/types/index.md +++ b/docs/design/autoware-interfaces/ad-api/types/index.md @@ -7,6 +7,8 @@ - [autoware_adapi_v1_msgs/msg/CooperationStatus](./autoware_adapi_v1_msgs/msg/CooperationStatus.md) - [autoware_adapi_v1_msgs/msg/DiagGraphStatus](./autoware_adapi_v1_msgs/msg/DiagGraphStatus.md) - [autoware_adapi_v1_msgs/msg/DiagGraphStruct](./autoware_adapi_v1_msgs/msg/DiagGraphStruct.md) +- [autoware_adapi_v1_msgs/msg/DiagLeafStatus](./autoware_adapi_v1_msgs/msg/DiagLeafStatus.md) +- [autoware_adapi_v1_msgs/msg/DiagLeafStruct](./autoware_adapi_v1_msgs/msg/DiagLeafStruct.md) - [autoware_adapi_v1_msgs/msg/DiagLinkStruct](./autoware_adapi_v1_msgs/msg/DiagLinkStruct.md) - [autoware_adapi_v1_msgs/msg/DiagNodeStatus](./autoware_adapi_v1_msgs/msg/DiagNodeStatus.md) - [autoware_adapi_v1_msgs/msg/DiagNodeStruct](./autoware_adapi_v1_msgs/msg/DiagNodeStruct.md) @@ -23,6 +25,7 @@ - [autoware_adapi_v1_msgs/msg/HazardLights](./autoware_adapi_v1_msgs/msg/HazardLights.md) - [autoware_adapi_v1_msgs/msg/HazardLightsCommand](./autoware_adapi_v1_msgs/msg/HazardLightsCommand.md) - [autoware_adapi_v1_msgs/msg/Heartbeat](./autoware_adapi_v1_msgs/msg/Heartbeat.md) +- [autoware_adapi_v1_msgs/msg/KvString](./autoware_adapi_v1_msgs/msg/KvString.md) - [autoware_adapi_v1_msgs/msg/LocalizationInitializationState](./autoware_adapi_v1_msgs/msg/LocalizationInitializationState.md) - [autoware_adapi_v1_msgs/msg/ManualControlMode](./autoware_adapi_v1_msgs/msg/ManualControlMode.md) - [autoware_adapi_v1_msgs/msg/ManualControlModeStatus](./autoware_adapi_v1_msgs/msg/ManualControlModeStatus.md) @@ -64,6 +67,7 @@ - [autoware_adapi_v1_msgs/srv/GetVehicleSpecs](./autoware_adapi_v1_msgs/srv/GetVehicleSpecs.md) - [autoware_adapi_v1_msgs/srv/InitializeLocalization](./autoware_adapi_v1_msgs/srv/InitializeLocalization.md) - [autoware_adapi_v1_msgs/srv/ListManualControlMode](./autoware_adapi_v1_msgs/srv/ListManualControlMode.md) +- [autoware_adapi_v1_msgs/srv/ResetDiagGraph](./autoware_adapi_v1_msgs/srv/ResetDiagGraph.md) - [autoware_adapi_v1_msgs/srv/SelectManualControlMode](./autoware_adapi_v1_msgs/srv/SelectManualControlMode.md) - [autoware_adapi_v1_msgs/srv/SendMrmRequest](./autoware_adapi_v1_msgs/srv/SendMrmRequest.md) - [autoware_adapi_v1_msgs/srv/SetCooperationCommands](./autoware_adapi_v1_msgs/srv/SetCooperationCommands.md) diff --git a/yaml/autoware-interfaces.yaml b/yaml/autoware-interfaces.yaml index eb55e7f532f..69486837855 100644 --- a/yaml/autoware-interfaces.yaml +++ b/yaml/autoware-interfaces.yaml @@ -23,21 +23,36 @@ types: uuid: unique_identifier_msgs/msg/UUID autoware_adapi_v1_msgs/msg/DiagGraphStatus: msg: + diags: autoware_adapi_v1_msgs/msg/DiagLeafStatus[] id: string nodes: autoware_adapi_v1_msgs/msg/DiagNodeStatus[] stamp: builtin_interfaces/msg/Time autoware_adapi_v1_msgs/msg/DiagGraphStruct: msg: + diags: autoware_adapi_v1_msgs/msg/DiagLeafStruct[] id: string links: autoware_adapi_v1_msgs/msg/DiagLinkStruct[] nodes: autoware_adapi_v1_msgs/msg/DiagNodeStruct[] stamp: builtin_interfaces/msg/Time + autoware_adapi_v1_msgs/msg/DiagLeafStatus: + msg: + hardware_id: string + input_level: byte + level: byte + message: string + values: autoware_adapi_v1_msgs/msg/KvString[] + autoware_adapi_v1_msgs/msg/DiagLeafStruct: + msg: + name: string autoware_adapi_v1_msgs/msg/DiagLinkStruct: msg: child: uint32 parent: uint32 autoware_adapi_v1_msgs/msg/DiagNodeStatus: msg: + input_level: byte + is_dependent: bool + latch_level: byte level: byte autoware_adapi_v1_msgs/msg/DiagNodeStruct: msg: @@ -97,6 +112,10 @@ types: msg: seq: uint16 stamp: builtin_interfaces/msg/Time + autoware_adapi_v1_msgs/msg/KvString: + msg: + key: string + value: string autoware_adapi_v1_msgs/msg/LocalizationInitializationState: msg: stamp: builtin_interfaces/msg/Time @@ -291,6 +310,9 @@ types: res: modes: autoware_adapi_v1_msgs/msg/ManualControlMode[] status: autoware_adapi_v1_msgs/msg/ResponseStatus + autoware_adapi_v1_msgs/srv/ResetDiagGraph: + res: + status: autoware_adapi_v1_msgs/msg/ResponseStatus autoware_adapi_v1_msgs/srv/SelectManualControlMode: req: mode: autoware_adapi_v1_msgs/msg/ManualControlMode