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fix(autoware_external_cmd_converter, system_diagnostic_monitor): fix check_topic_state and local mode config #1408

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merged 2 commits into from
Jul 11, 2024
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fix(autoware_external_cmd_converter, system_diagnostic_monitor): fix check_topic_state and local mode config #1408

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8fbaf16
fix(autoware_external_cmd_converter): fix check_topic_state (#7921)
shtokuda Jul 11, 2024
ae2e9b0
fix(system_diagnostic_monitor): fix local mode config (#7532)
isamu-takagi Jun 18, 2024
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17 changes: 6 additions & 11 deletions system/system_diagnostic_monitor/config/control.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -13,14 +13,14 @@ units:
- path: /autoware/control/local
type: and
list:
- { type: link, link: /autoware/control/topic_rate_check/selector }
- { type: link, link: /autoware/control/topic_rate_check/local }
- { type: link, link: /autoware/control/topic_rate_check/external_cmd_selector }
- { type: link, link: /autoware/control/topic_rate_check/external_cmd_converter }

- path: /autoware/control/remote
type: and
list:
- { type: link, link: /autoware/control/topic_rate_check/selector }
- { type: link, link: /autoware/control/topic_rate_check/remote }
- { type: link, link: /autoware/control/topic_rate_check/external_cmd_selector }
- { type: link, link: /autoware/control/topic_rate_check/external_cmd_converter }

- path: /autoware/control/topic_rate_check/trajectory_follower
type: diag
Expand Down Expand Up @@ -57,17 +57,12 @@ units:
node: controller_node_exe
name: control_state

- path: /autoware/control/topic_rate_check/selector
- path: /autoware/control/topic_rate_check/external_cmd_selector
type: diag
node: external_cmd_selector
name: heartbeat

- path: /autoware/control/topic_rate_check/local
type: diag
node: joy_controller
name: joy_controller_connection

- path: /autoware/control/topic_rate_check/remote
- path: /autoware/control/topic_rate_check/external_cmd_converter
type: diag
node: external_cmd_converter
name: remote_control_topic_status
13 changes: 11 additions & 2 deletions vehicle/autoware_external_cmd_converter/src/node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -179,6 +179,9 @@ void ExternalCmdConverterNode::check_topic_status(
{
using diagnostic_msgs::msg::DiagnosticStatus;
DiagnosticStatus status;

current_gate_mode_ = gate_mode_sub_.takeData();

if (!check_emergency_stop_topic_timeout()) {
status.level = DiagnosticStatus::ERROR;
status.message = "emergency stop topic is timeout";
Expand All @@ -195,6 +198,14 @@ void ExternalCmdConverterNode::check_topic_status(

bool ExternalCmdConverterNode::check_emergency_stop_topic_timeout()
{
if (!current_gate_mode_) {
return true;
}

if (current_gate_mode_->data == tier4_control_msgs::msg::GateMode::AUTO) {
latest_emergency_stop_heartbeat_received_time_ = nullptr;
}

if (!latest_emergency_stop_heartbeat_received_time_) {
return wait_for_first_topic_;
}
Expand All @@ -205,8 +216,6 @@ bool ExternalCmdConverterNode::check_emergency_stop_topic_timeout()

bool ExternalCmdConverterNode::check_remote_topic_rate()
{
current_gate_mode_ = gate_mode_sub_.takeData();

if (!current_gate_mode_) {
return true;
}
Expand Down
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