feat(ad-api): update diagnostics api

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)

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 %}

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 |

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 %}

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
 ```
 

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 %}

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 %}

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 %}

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 %}

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

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 %}

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)

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