diff --git a/tier4_system_msgs/README.md b/tier4_system_msgs/README.md new file mode 100644 index 0000000..87a5947 --- /dev/null +++ b/tier4_system_msgs/README.md @@ -0,0 +1,14 @@ +# tier4_system_msgs + +## Diagnostic graph messages + +See [this page](./doc/diagnostic-graph.md) for the following diagnostic graph messages. + +- DiagGraphStatus +- DiagGraphStruct +- DiagLeafStatus +- DiagLeafStruct +- DiagLinkStatus +- DiagLinkStruct +- DiagNodeStatus +- DiagNodeStruct diff --git a/tier4_system_msgs/doc/diagnostic-graph-data.drawio.svg b/tier4_system_msgs/doc/diagnostic-graph-data.drawio.svg new file mode 100644 index 0000000..736c929 --- /dev/null +++ b/tier4_system_msgs/doc/diagnostic-graph-data.drawio.svg @@ -0,0 +1,1465 @@ + + + + + + + +
+
+
+ /diagnostics_graph/struct +
+
+
+ + + /diagnostics_graph/struct + + + + + + + +
+
+
+
+ nodes[0] +
+
+
+
+ + + nodes[0] + + + + + + + +
+
+
+ nodes + + [1] + +
+
+
+ + + nodes[1] + + + + + + + +
+
+
+ nodes + + [2] + +
+
+
+ + + nodes[2] + + + + + + + +
+
+
+ nodes + + [3] + +
+
+
+ + + nodes[3] + + + + + + + +
+
+
+ nodes + + [4] + +
+
+
+ + + nodes[4] + + + + + + + +
+
+
+ /diagnostics_graph/status +
+
+
+ + + /diagnostics_graph/status + + + + + + + +
+
+
+
+ links[0] +
+
+
+
+ + + links[0] + + + + + + + +
+
+
+ links + + [1] + +
+
+
+ + + links[1] + + + + + + + +
+
+
+ links + + [2] + +
+
+
+ + + links[2] + + + + + + + +
+
+
+ links + + [3] + +
+
+
+ + + links[3] + + + + + + + +
+
+
+ links + + [4] + +
+
+
+ + + links[4] + + + + + + + +
+
+
+ links + + [5] + +
+
+
+ + + links[5] + + + + + + + +
+
+
+ links + + [6] + +
+
+
+ + + links[6] + + + + + + + +
+
+
+ used: true +
+
+
+ + + used: true + + + + + + + +
+
+
+
+ used: true +
+
+
+
+
+ + + used: true + + + + + + + +
+
+
+
+
+ used: true +
+
+
+
+
+
+ + + used: true + + + + + + + +
+
+
+
+ used: true +
+
+
+
+
+ + + used: true + + + + + + + +
+
+
+
+ used: true +
+
+
+
+
+ + + used: true + + + + + + + +
+
+
+
+ path: /vehicle/interface +
+
+ + name: sample_vehicle + +
+
+
+
+ + + path: /vehicle/interface... + + + + + + + +
+
+
+
+ parent: 0 +
+
+ + child: diags-0 + +
+
+
+
+ + + parent: 0... + + + + + + + +
+
+
+
+ parent: 2 +
+
+ child: diags-1 +
+
+
+
+
+ + + parent: 2... + + + + + + + +
+
+
+
+
+ parent: 2 +
+
+ child: diags-2 +
+
+
+
+
+
+ + + parent: 2... + + + + + + + +
+
+
+
+ parent: 3 +
+
+ child: diags-3 +
+
+
+
+
+ + + parent: 3... + + + + + + + +
+
+
+
+ parent: 1 +
+
+ child: nodes-0 +
+
+
+
+
+ + + parent: 1... + + + + + + + +
+
+
+ + parent: 4 +
+ child: nodes-0 + +
+
+
+ + + parent: 4... + + + + + + + +
+
+
+
+ parent: 4 +
+
+ child: nodes-2 +
+
+
+
+
+ + + parent: 4... + + + + + + + +
+
+
+
+ Additional diagnostics +
+
+ (Intermediate) +
+
+
+
+ + + Additional diagnostics... + + + + + + + +
+
+
+
+ Additional diagnostics +
+ (top level) +
+
+
+
+ + + Additional diagnostics... + + + + + + + +
+
+
+
+ Raw diagnostics +
+
+
+
+ + + Raw diagnostics + + + + + + + +
+
+
+ Links +
+
+
+ + + Links + + + + + + + +
+
+
+
+ path: /planning/route +
+ name: route_topic_check +
+
+
+ + + path: /planning/route... + + + + + + + +
+
+
+
+ path: /planning/trajectory +
+ name: path_topic_check +
+
+
+ + + path: /planning/trajectory... + + + + + + + +
+
+
+ path: /control/command +
+ name: command_check +
+
+
+
+ + + path: /control/command... + + + + + + + +
+
+
+ path: /vehicle/status +
+
+
+ + + path: /vehicle/status + + + + + + + +
+
+
+ path: /mode/stop +
+
+
+ + + path: /mode/stop + + + + + + + +
+
+
+ path: /planning/status +
+
+
+ + + path: /planning/status + + + + + + + +
+
+
+ path: /control/status +
+
+
+ + + path: /control/status + + + + + + + +
+
+
+ path: /mode/autonomous +
+
+
+ + + path: /mode/autonomous + + + + + + +
+
+
+ links + + [7] + +
+
+
+ + + links[7] + + + + + + + +
+
+
+
+ parent: 4 +
+
+ child: nodes-3 +
+
+
+
+
+ + + parent: 4... + + + + + + + +
+
+
+ level: OK +
+ message: ... +
+ hardware_id: ... +
+ values: ... +
+
+
+ + + level: OK... + + + + + + + +
+
+
+ level: OK +
+ message: ... +
+ hardware_id: ... +
+ values: ... +
+
+
+ + + level: OK... + + + + + + + +
+
+
+ level: ERROR +
+ message: ... +
+ hardware_id: ... +
+ values: ... +
+
+
+ + + level: ERROR... + + + + + + + +
+
+
+ level: OK +
+ message: ... +
+ hardware_id: ... +
+ values: ... +
+
+
+ + + level: OK... + + + + + + + +
+
+
+ level: OK +
+
+
+ + + level: OK + + + + + + + +
+
+
+ level: ERROR +
+
+
+ + + level: ERROR + + + + + + + +
+
+
+ level: OK +
+
+
+ + + level: OK + + + + + + + +
+
+
+ level: OK +
+
+
+ + + level: OK + + + + + + + +
+
+
+ level: ERROR +
+
+
+ + + level: ERROR + + + + + + + +
+
+
+ used: true +
+
+
+ + + used: true + + + + + + + +
+
+
+
+ used: true +
+
+
+
+
+ + + used: true + + + + + + + +
+
+
+
+ used: true +
+
+
+
+
+ + + used: true + + + + + + +
+
+
+
+ diags[0] +
+
+
+
+ + + diags[0] + + + + + + +
+
+
+
+ diags[1] +
+
+
+
+
+ + + diags[1] + + + + + + +
+
+
+
+ diags[2] +
+
+
+
+
+ + + diags[2] + + + + + + +
+
+
+
+ diags[3] +
+
+
+
+
+ + + diags[3] + + + + + + +
+
+
+
+ diags[0] +
+
+
+
+ + + diags[0] + + + + + + +
+
+
+
+ diags[1] +
+
+
+
+
+ + + diags[1] + + + + + + +
+
+
+
+ diags[2] +
+
+
+
+
+ + + diags[2] + + + + + + +
+
+
+
+ diags[3] +
+
+
+
+
+ + + diags[3] + + + + + + +
+
+
+
+ nodes[0] +
+
+
+
+ + + nodes[0] + + + + + + +
+
+
+ nodes + + [1] + +
+
+
+ + + nodes[1] + + + + + + +
+
+
+ nodes + + [2] + +
+
+
+ + + nodes[2] + + + + + + +
+
+
+ nodes + + [3] + +
+
+
+ + + nodes[3] + + + + + + +
+
+
+ nodes + + [4] + +
+
+
+ + + nodes[4] + + + + + + +
+
+
+
+ links[0] +
+
+
+
+ + + links[0] + + + + + + +
+
+
+ links + + [1] + +
+
+
+ + + links[1] + + + + + + +
+
+
+ links + + [2] + +
+
+
+ + + links[2] + + + + + + +
+
+
+ links + + [3] + +
+
+
+ + + links[3] + + + + + + +
+
+
+ links + + [4] + +
+
+
+ + + links[4] + + + + + + +
+
+
+ links + + [5] + +
+
+
+ + + links[5] + + + + + + +
+
+
+ links + + [6] + +
+
+
+ + + links[6] + + + + + + +
+
+
+ links + + [7] + +
+
+
+ + + links[7] + + + + + + + + + Text is not SVG - cannot display + + + + \ No newline at end of file diff --git a/tier4_system_msgs/doc/diagnostic-graph-tree.drawio.svg b/tier4_system_msgs/doc/diagnostic-graph-tree.drawio.svg new file mode 100644 index 0000000..973c52e --- /dev/null +++ b/tier4_system_msgs/doc/diagnostic-graph-tree.drawio.svg @@ -0,0 +1,625 @@ + + + + + + + +
+
+
+ /diagnostics_graph +
+
+
+ + + /diagnostics_graph + + + + + + + +
+
+
+ /diagnostics +
+
+
+ + + /diagnostics + + + + + + + +
+
+
+ path: /mode/autonomous +
+ level: ERROR +
+
+
+ + + path: /mode/autonomous... + + + + + + + +
+
+
+ path: /mode/stop +
+ level: OK +
+
+
+ + + path: /mode/stop... + + + + + + + + + +
+
+
+ path: /vehicle/interface +
+ status: +
+ name: sample_vehicle +
+ level: OK +
+ message: ... +
+ hardware_id: ... +
+ values: ... +
+
+
+ + + path: /vehicle/interface... + + + + + + + + + +
+
+
+ path: /planning/route +
+ status: +
+ name: route_topic_check +
+ level: OK +
+ message: ... +
+ hardware_id: ... +
+ values: ... +
+
+
+ + + path: /planning/route... + + + + + + + + + +
+
+
+ path: /planning/trajectory +
+ status: +
+ name: path_topic_check +
+ level: ERROR +
+ message: ... +
+ hardware_id: ... +
+ values: ... +
+
+
+ + + path: /planning/trajectory... + + + + + + + + + + + +
+
+
+ path: /vehicle/status +
+ level: OK +
+
+
+ + + path: /vehicle/status... + + + + + + + + + +
+
+
+ path: /planning/status +
+ level: ERROR +
+
+
+ + + path: /planning/status... + + + + + + + + + +
+
+
+ path: /control/status +
+ level: OK +
+
+
+ + + path: /control/status... + + + + + + + + + +
+
+
+ path: /control/command +
+ status: +
+ name: command_check +
+ level: OK +
+ message: ... +
+ hardware_id: ... +
+ values: ... +
+
+
+ + + path: /control/command... + + + + + + + +
+
+
+ diags[0] +
+
+
+ + + diags[0] + + + + + + + +
+
+
+ diags[1] +
+
+
+ + + diags[1] + + + + + + + +
+
+
+ diags[2] +
+
+
+ + + diags[2] + + + + + + + +
+
+
+ diags[3] +
+
+
+ + + diags[3] + + + + + + + +
+
+
+ nodes[0] +
+
+
+ + + nodes[0] + + + + + + + +
+
+
+ nodes[1] +
+
+
+ + + nodes[1] + + + + + + + +
+
+
+ nodes[2] +
+
+
+ + + nodes[2] + + + + + + + +
+
+
+ nodes[4] +
+
+
+ + + nodes[4] + + + + + + + +
+
+
+ nodes[3] +
+
+
+ + + nodes[3] + + + + + + + +
+
+
+ links[0] +
+
+
+ + + links[0] + + + + + + + +
+
+
+ links[1] +
+
+
+ + + links[1] + + + + + + + +
+
+
+ links[2] +
+
+
+ + + links[2] + + + + + + + +
+
+
+ links[3] +
+
+
+ + + links[3] + + + + + + + +
+
+
+ links[4] +
+
+
+ + + links[4] + + + + + + + +
+
+
+ links[5] +
+
+
+ + + links[5] + + + + + + + +
+
+
+ links[7] +
+
+
+ + + links[7] + + + + + + + +
+
+
+ links[6] +
+
+
+ + + links[6] + + + + + + + +
+
+
+
+ Additional diagnostics +
+
+ (Intermediate) +
+
+
+
+ + + Additional diagnostics... + + + + + + + +
+
+
+
+ Additional diagnostics +
+ (top level) +
+
+
+
+ + + Additional diagnostics... + + + + + + + +
+
+
+
+ Raw diagnostics +
+
+
+
+ + + Raw diagnostics + + + + + + + + + Text is not SVG - cannot display + + + + \ No newline at end of file diff --git a/tier4_system_msgs/doc/diagnostic-graph.md b/tier4_system_msgs/doc/diagnostic-graph.md new file mode 100644 index 0000000..9deadca --- /dev/null +++ b/tier4_system_msgs/doc/diagnostic-graph.md @@ -0,0 +1,14 @@ +# Diagnostic graph messages + +These are messages that represent aggregated diagnostic graphs. +Diagnostic graph structure is static, so it is published only once as the DiagGraphStruct. +And diagnostic status that changes dynamically is periodically published as the DiagGraphStatus. +The DiagGraphStruct and DiagGraphStatus have the list of nodes and links, and their indices correspond. + +## Sample graph + +![diagnostic-graph-tree](./diagnostic-graph-tree.drawio.svg) + +## Sample message + +![diagnostic-graph-data](./diagnostic-graph-data.drawio.svg)