feat: add tree and dummy diag yaml (autowarefoundation#1064) (autowarefoundation#1120)

* feat: add tree and dummy diag



* fix



* feat: add redundancy_switcher diag



* style(pre-commit): autofix

* feat: chnage 0.4 to 0.3



* feat: change 0.4 to 0.3



---------

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

Author: TetsuKawa

autoware_launch/config/system/tier4_diagnostics/autoware-main.redundancy.debug.main.yaml

@@ -1,31 +1,88 @@
 units:
   - path: /autoware/modes/local
-    type: stale
+    type: and
+    list:
+      - { type: link, link: /debug/injection/local_available }
 
   - path: /autoware/modes/remote
-    type: stale
+    type: and
+    list:
+      - { type: link, link: /debug/injection/remote_available }
 
-  # Stop is always available
   - path: /autoware/modes/stop
-    type: ok
+    type: and
+    list:
+      - { type: link, link: /debug/injection/stop_available }
 
   - path: /autoware/modes/autonomous
     type: and
     list:
-      - { type: link, link: /dummy_diag_publisher/emergency }
-
-  - path: /autoware/modes/pull_over
-    type: ok
+      - { type: link, link: /debug/injection/autonomous_available }
+      - { type: link, link: /redundancy/redundancy_switcher }
 
   - path: /autoware/modes/comfortable_stop
-    type: ok
+    type: and
+    list:
+      - { type: link, link: /debug/injection/comfortable_stop_available }
+      - { type: link, link: /redundancy/redundancy_switcher }
+
+  - path: /autoware/modes/pull_over
+    type: and
+    list:
+      - { type: link, link: /debug/injection/main_ecu_in_lane_stop_0_3g_available }
+      - { type: link, link: /redundancy/redundancy_switcher }
 
-  # Emergency stop is always available
   - path: /autoware/modes/emergency_stop
-    type: ok
+    type: and
+    list:
+      - { type: link, link: /debug/injection/main_ecu_in_lane_stop_0_6g_available }
+      - { type: link, link: /redundancy/redundancy_switcher }
 
-  - path: /dummy_diag_publisher/emergency
+  # diag
+  - path: /debug/injection/local_available
     type: diag
     node: ""
-    name: dummy_diag_empty
+    name: injection_local_available
+    timeout: 1.0
+
+  - path: /debug/injection/remote_available
+    type: diag
+    node: ""
+    name: injection_remote_available
+    timeout: 1.0
+
+  - path: /debug/injection/stop_available
+    type: diag
+    node: ""
+    name: injection_stop_available
+    timeout: 1.0
+
+  - path: /debug/injection/autonomous_available
+    type: diag
+    node: ""
+    name: injection_autonomous_available
+    timeout: 1.0
+
+  - path: /debug/injection/comfortable_stop_available
+    type: diag
+    node: ""
+    name: injection_comfortable_stop_available
+    timeout: 1.0
+
+  - path: /debug/injection/main_ecu_in_lane_stop_0_3g_available
+    type: diag
+    node: ""
+    name: injection_main_ecu_in_lane_stop_0_3g_available
+    timeout: 1.0
+
+  - path: /debug/injection/main_ecu_in_lane_stop_0_6g_available
+    type: diag
+    node: ""
+    name: injection_main_ecu_in_lane_stop_0_6g_available
+    timeout: 1.0
+
+  - path: /redundancy/redundancy_switcher
+    type: diag
+    node: redundancy_switcher_interface
+    name: redundancy_switcher_status
     timeout: 1.0

autoware_launch/config/system/tier4_diagnostics/autoware-main.redundancy.debug.sub.yaml

@@ -0,0 +1,19 @@
+units:
+  - path: /autoware/modes/sub_ecu_in_lane_stop_0_3g
+    type: and
+    list:
+      - { type: link, link: /debug/injection/sub_ecu_in_lane_stop_0_3g_available }
+      - { type: link, link: /redundancy/redundancy_switcher }
+
+  # diag
+  - path: /debug/injection/sub_ecu_in_lane_stop_0_3g_available
+    type: diag
+    node: ""
+    name: injection_sub_ecu_in_lane_stop_0_3g_available
+    timeout: 1.0
+
+  - path: /redundancy/redundancy_switcher
+    type: diag
+    node: redundancy_switcher_interface
+    name: redundancy_switcher_status
+    timeout: 1.0

autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.redundancy.debug.main.param.yaml

@@ -0,0 +1,38 @@
+# Description:
+#   required_diags:
+#     <name>: {is_active: <is_active>, status: <status>}
+#   name: diag name
+#   is_active: Force update or not
+#   status: diag status set by dummy diag publisher "OK, Warn, Error, Stale"
+#
+# Note:
+#
+# default values are:
+#   is_active: "true"
+#   status: "OK"
+---
+/**:
+  ros__parameters:
+    required_diags:
+      # debug
+
+      ## /debug/injection/stop_available
+      "injection_stop_available": default
+
+      ## /debug/injection/autonomous_available
+      "injection_autonomous_available": default
+
+      ## /debug/injection/local_available
+      "injection_local_available": default
+
+      ## /debug/injection/remote_available
+      "injection_remote_available": default
+
+      ## /debug/injection/comfortable_stop_available
+      "injection_comfortable_stop_available": default
+
+      ## /debug/injection/main_ecu_in_lane_stop_0_3g_available
+      "injection_main_ecu_in_lane_stop_0_3g_available": default
+
+      ## /debug/injection/main_ecu_in_lane_stop_0_6g_available
+      "injection_main_ecu_in_lane_stop_0_6g_available": default

autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.redundancy.debug.sub.param.yaml

@@ -0,0 +1,20 @@
+# Description:
+#   required_diags:
+#     <name>: {is_active: <is_active>, status: <status>}
+#   name: diag name
+#   is_active: Force update or not
+#   status: diag status set by dummy diag publisher "OK, Warn, Error, Stale"
+#
+# Note:
+#
+# default values are:
+#   is_active: "true"
+#   status: "OK"
+---
+/**:
+  ros__parameters:
+    required_diags:
+      # debug
+
+      ## /debug/injection/sub_ecu_in_lane_stop_0_3g_available
+      "injection_sub_ecu_in_lane_stop_0_3g_available": default