feat: system diagnostic monitor

system/system_diagnostic_graph/CMakeLists.txt

@@ -0,0 +1,26 @@
+cmake_minimum_required(VERSION 3.14)
+project(system_diagnostic_graph)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_add_executable(aggregator
+  src/main.cpp
+  src/core/config.cpp
+  src/core/debug.cpp
+  src/core/graph.cpp
+  src/core/node.cpp
+  src/core/expr.cpp
+  src/core/update.cpp
+)
+
+ament_auto_add_executable(converter
+  src/tool.cpp
+)
+
+install(
+  PROGRAMS util/debug.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_auto_package(INSTALL_TO_SHARE config example launch)

system/system_diagnostic_graph/README.md

@@ -0,0 +1,45 @@
+# System diagnostic graph
+
+## Overview
+
+The system diagnostic graph node subscribes to diagnostic status and publishes aggregated diagnostic status.
+As shown in the diagram below, this node introduces extra diagnostic status for intermediate functional unit.
+Diagnostic status dependencies will be directed acyclic graph (DAG).
+
+![overview](./doc/overview.drawio.svg)
+
+## Interface
+
+| Interface Type | Interface Name              | Data Type                               | Description        |
+| -------------- | --------------------------- | --------------------------------------- | ------------------ |
+| subscription   | `/diagnostics`              | `diagnostic_msgs/msg/DiagnosticArray`   | Input diagnostics. |
+| publisher      | `/diagnostics_graph/status` | `diagnostic_msgs/msg/DiagnosticArray`   | Graph status.      |
+| publisher      | `/diagnostics_graph/struct` | `tier4_system_msgs/msg/DiagnosticGraph` | Graph structure.   |
+
+## Parameters
+
+| Parameter Name     | Data Type | Description                                |
+| ------------------ | --------- | ------------------------------------------ |
+| `graph_file`       | `string`  | Path of the config file.                   |
+| `rate`             | `double`  | Rate of aggregation and topic publication. |
+| `status_qos_depth` | `uint`    | QoS depth of status topic.                 |
+| `source_qos_depth` | `uint`    | QoS depth of source topic.                 |
+
+## Graph file format
+
+- [GraphFile](./doc/format/graph-file.md)
+- [Path](./doc/format/path.md)
+- [Node](./doc/format/node.md)
+  - [Diag](./doc/format/diag.md)
+  - [Unit](./doc/format/unit.md)
+  - [And](./doc/format/and.md)
+  - [Or](./doc/format/or.md)
+
+## Example
+
+- [example1.yaml](./example/example1.yaml)
+- [example2.yaml](./example/example2.yaml)
+
+```bash
+ros2 launch system_diagnostic_graph example.launch.xml
+```

system/system_diagnostic_graph/config/default.param.yaml

@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    rate: 1.0
+    input_qos_depth: 1000
+    graph_qos_depth: 1

system/system_diagnostic_graph/doc/format/and.md

@@ -0,0 +1,11 @@
+# Unit
+
+And is a node that is evaluated as the AND of the input nodes.
+
+## Format
+
+| Name | Type                                       | Required | Description                           |
+| ---- | ------------------------------------------ | -------- | ------------------------------------- |
+| type | string                                     | yes      | Specify `and` when using this object. |
+| name | string                                     | yes      | Name of diagnostic status.            |
+| list | List<[Diag](./diag.md)\|[Unit](./unit.md)> | yes      | List of input node references.        |

system/system_diagnostic_graph/doc/format/diag.md

@@ -0,0 +1,11 @@
+# Diag
+
+Diag is a node that refers to a source diagnostics.
+
+## Format
+
+| Name     | Type   | Required | Description                            |
+| -------- | ------ | -------- | -------------------------------------- |
+| type     | string | yes      | Specify `diag` when using this object. |
+| name     | string | yes      | Name of diagnostic status.             |
+| hardware | string | yes      | Hardware ID of diagnostic status.      |

system/system_diagnostic_graph/doc/format/graph-file.md

@@ -0,0 +1,10 @@
+# GraphFile
+
+GraphFile is the top level object that makes up the configuration file.
+
+## Format
+
+| Name  | Type                    | Required | Description                    |
+| ----- | ----------------------- | -------- | ------------------------------ |
+| files | List<[Path](./path.md)> | no       | Paths of the files to include. |
+| nodes | List<[Node](./node.md)> | no       | Nodes of the diagnostic graph. |

system/system_diagnostic_graph/doc/format/node.md

@@ -0,0 +1,9 @@
+# Node
+
+Node is a base object that makes up the diagnostic graph.
+
+## Format
+
+| Name | Type   | Required | Description                                 |
+| ---- | ------ | -------- | ------------------------------------------- |
+| type | string | yes      | Node type. See derived objects for details. |

system/system_diagnostic_graph/doc/format/or.md

@@ -0,0 +1,11 @@
+# Unit
+
+Or is a node that is evaluated as the OR of the input nodes.
+
+## Format
+
+| Name | Type                                       | Required | Description                          |
+| ---- | ------------------------------------------ | -------- | ------------------------------------ |
+| type | string                                     | yes      | Specify `or` when using this object. |
+| name | string                                     | yes      | Name of diagnostic status.           |
+| list | List<[Diag](./diag.md)\|[Unit](./unit.md)> | yes      | List of input node references.       |

system/system_diagnostic_graph/doc/format/path.md

@@ -0,0 +1,10 @@
+# Path
+
+Path is an object that indicates the path of the file to include.
+
+## Format
+
+| Name    | Type   | Required | Description                   |
+| ------- | ------ | -------- | ----------------------------- |
+| package | string | yes      | Package name.                 |
+| path    | string | yes      | Relative path in the package. |

system/system_diagnostic_graph/doc/format/unit.md

@@ -0,0 +1,10 @@
+# Unit
+
+Diag is a node that refers to a functional unit.
+
+## Format
+
+| Name | Type   | Required | Description                            |
+| ---- | ------ | -------- | -------------------------------------- |
+| type | string | yes      | Specify `unit` when using this object. |
+| name | string | yes      | Name of diagnostic status.             |