feat(hazard_status_converter): add package (#6428)

Signed-off-by: Takagi, Isamu <[email protected]>

system/hazard_status_converter/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.14)
+project(hazard_status_converter)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/converter.cpp
+)
+
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "hazard_status_converter::Converter"
+  EXECUTABLE converter
+)
+
+ament_auto_package(INSTALL_TO_SHARE launch)

system/hazard_status_converter/launch/hazard_status_converter.launch.xml

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+<launch>
+  <node pkg="hazard_status_converter" exec="converter" name="hazard_status_converter"/>
+</launch>

system/hazard_status_converter/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>hazard_status_converter</name>
+  <version>0.1.0</version>
+  <description>The hazard_status_converter package</description>
+  <maintainer email="[email protected]">Takagi, Isamu</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+
+  <depend>autoware_auto_system_msgs</depend>
+  <depend>diagnostic_msgs</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
+  <depend>tier4_system_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

system/hazard_status_converter/src/converter.cpp

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+// Copyright 2023 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "converter.hpp"
+
+#include <utility>
+#include <vector>
+
+namespace
+{
+
+using autoware_auto_system_msgs::msg::HazardStatus;
+using autoware_auto_system_msgs::msg::HazardStatusStamped;
+using diagnostic_msgs::msg::DiagnosticStatus;
+using tier4_system_msgs::msg::DiagnosticGraph;
+using tier4_system_msgs::msg::DiagnosticNode;
+using DiagnosticLevel = DiagnosticStatus::_level_type;
+
+enum class HazardLevel { NF, SF, LF, SPF };
+
+struct TempNode
+{
+  const DiagnosticNode & node;
+  bool is_auto_tree;
+};
+
+HazardLevel get_hazard_level(const TempNode & node, DiagnosticLevel auto_mode_level)
+{
+  // Convert the level according to the table below.
+  // The Level other than auto mode is considered OK.
+  // |-------|-------------------------------|
+  // | Level |           Root level          |
+  // |-------|-------------------------------|
+  // |       | OK    | WARN  | ERROR | STALE |
+  // | OK    | NF    | NF    | NF    | NF    |
+  // | WARN  | SF    | LF    | LF    | LF    |
+  // | ERROR | SF    | LF    | SPF   | SPF   |
+  // | STALE | SF    | LF    | SPF   | SPF   |
+  // |-------|-------------------------------|
+
+  const auto root_level = node.is_auto_tree ? auto_mode_level : DiagnosticStatus::OK;
+  const auto node_level = node.node.status.level;
+
+  if (node_level == DiagnosticStatus::OK) {
+    return HazardLevel::NF;
+  }
+  if (root_level == DiagnosticStatus::OK) {
+    return HazardLevel::SF;
+  }
+  if (node_level == DiagnosticStatus::WARN) {
+    return HazardLevel::LF;
+  }
+  if (root_level == DiagnosticStatus::WARN) {
+    return HazardLevel::LF;
+  }
+  return HazardLevel::SPF;
+}
+
+void set_auto_tree(std::vector<TempNode> & nodes, int index)
+{
+  TempNode & node = nodes[index];
+  if (node.is_auto_tree) {
+    return;
+  }
+
+  node.is_auto_tree = true;
+  for (const auto & link : node.node.links) {
+    set_auto_tree(nodes, link.index);
+  }
+}
+
+HazardStatusStamped convert_hazard_diagnostics(const DiagnosticGraph & graph)
+{
+  // Create temporary tree for conversion.
+  std::vector<TempNode> nodes;
+  nodes.reserve(graph.nodes.size());
+  for (const auto & node : graph.nodes) {
+    nodes.push_back({node, false});
+  }
+
+  // Mark nodes included in the auto mode tree.
+  DiagnosticLevel auto_mode_level = DiagnosticStatus::STALE;
+  for (size_t index = 0; index < nodes.size(); ++index) {
+    const auto & status = nodes[index].node.status;
+    if (status.name == "/autoware/modes/autonomous") {
+      set_auto_tree(nodes, index);
+      auto_mode_level = status.level;
+    }
+  }
+
+  // Calculate hazard level from node level and root level.
+  HazardStatusStamped hazard;
+  for (const auto & node : nodes) {
+    switch (get_hazard_level(node, auto_mode_level)) {
+      case HazardLevel::NF:
+        hazard.status.diag_no_fault.push_back(node.node.status);
+        break;
+      case HazardLevel::SF:
+        hazard.status.diag_safe_fault.push_back(node.node.status);
+        break;
+      case HazardLevel::LF:
+        hazard.status.diag_latent_fault.push_back(node.node.status);
+        break;
+      case HazardLevel::SPF:
+        hazard.status.diag_single_point_fault.push_back(node.node.status);
+        break;
+    }
+  }
+  return hazard;
+}
+
+}  // namespace
+
+namespace hazard_status_converter
+{
+
+Converter::Converter(const rclcpp::NodeOptions & options) : Node("converter", options)
+{
+  pub_hazard_ = create_publisher<HazardStatusStamped>("/hazard_status", rclcpp::QoS(1));
+  sub_graph_ = create_subscription<DiagnosticGraph>(
+    "/diagnostics_graph", rclcpp::QoS(3),
+    std::bind(&Converter::on_graph, this, std::placeholders::_1));
+}
+
+void Converter::on_graph(const DiagnosticGraph::ConstSharedPtr msg)
+{
+  const auto get_system_level = [](const HazardStatus & status) {
+    if (!status.diag_single_point_fault.empty()) {
+      return HazardStatus::SINGLE_POINT_FAULT;
+    }
+    if (!status.diag_latent_fault.empty()) {
+      return HazardStatus::LATENT_FAULT;
+    }
+    if (!status.diag_safe_fault.empty()) {
+      return HazardStatus::SAFE_FAULT;
+    }
+    return HazardStatus::NO_FAULT;
+  };
+
+  HazardStatusStamped hazard = convert_hazard_diagnostics(*msg);
+  hazard.stamp = msg->stamp;
+  hazard.status.level = get_system_level(hazard.status);
+  hazard.status.emergency = hazard.status.level == HazardStatus::SINGLE_POINT_FAULT;
+  hazard.status.emergency_holding = false;
+  pub_hazard_->publish(hazard);
+}
+
+}  // namespace hazard_status_converter
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(hazard_status_converter::Converter)

system/hazard_status_converter/src/converter.hpp

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+// Copyright 2023 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef CONVERTER_HPP_
+#define CONVERTER_HPP_
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <autoware_auto_system_msgs/msg/hazard_status_stamped.hpp>
+#include <tier4_system_msgs/msg/diagnostic_graph.hpp>
+
+#include <string>
+#include <unordered_map>
+#include <vector>
+
+namespace hazard_status_converter
+{
+
+class Converter : public rclcpp::Node
+{
+public:
+  explicit Converter(const rclcpp::NodeOptions & options);
+
+private:
+  using DiagnosticGraph = tier4_system_msgs::msg::DiagnosticGraph;
+  using HazardStatusStamped = autoware_auto_system_msgs::msg::HazardStatusStamped;
+  rclcpp::Subscription<DiagnosticGraph>::SharedPtr sub_graph_;
+  rclcpp::Publisher<HazardStatusStamped>::SharedPtr pub_hazard_;
+  void on_graph(const DiagnosticGraph::ConstSharedPtr msg);
+};
+
+}  // namespace hazard_status_converter
+
+#endif  // CONVERTER_HPP_