feat: system diagnostic monitor message (#96)

* feat: add diagnostic graph Signed-off-by: Takagi, Isamu <[email protected]> * feat: update diagnostic graph Signed-off-by: Takagi, Isamu <[email protected]> * feat: add links Signed-off-by: Takagi, Isamu <[email protected]> * feat: split status and struct Signed-off-by: Takagi, Isamu <[email protected]> * add name Signed-off-by: Takagi, Isamu <[email protected]> * add summary Signed-off-by: Takagi, Isamu <[email protected]> * add link Signed-off-by: Takagi, Isamu <[email protected]> * add stamp Signed-off-by: Takagi, Isamu <[email protected]> * add stamp Signed-off-by: Takagi, Isamu <[email protected]> * rename message Signed-off-by: Takagi, Isamu <[email protected]> * add comment Signed-off-by: Takagi, Isamu <[email protected]> --------- Signed-off-by: Takagi, Isamu <[email protected]>
tier4 · Sep 15, 2023 · 71cc77d · 71cc77d
1 parent 41d741c
commit 71cc77d
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diff --git a/tier4_system_msgs/CMakeLists.txt b/tier4_system_msgs/CMakeLists.txt
@@ -16,6 +16,10 @@ ament_auto_find_build_dependencies()
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/AutowareState.msg"
+  "msg/DiagnosticGraph.msg"
+  "msg/DiagnosticLink.msg"
+  "msg/DiagnosticNode.msg"
+  "msg/OperationModeAvailability.msg"
   "msg/EmergencyState.msg"
   "msg/EmergencyStateStamped.msg"
   "msg/HazardStatus.msg"

diff --git a/tier4_system_msgs/msg/DiagnosticGraph.msg b/tier4_system_msgs/msg/DiagnosticGraph.msg
@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+tier4_system_msgs/DiagnosticNode[] nodes
diff --git a/tier4_system_msgs/msg/DiagnosticLink.msg b/tier4_system_msgs/msg/DiagnosticLink.msg
@@ -0,0 +1,2 @@
+uint32 index  # The index of the nodes in the DiagnosticGraph message.
+bool used     # Whether the linked node is used if the dependency is conditional.
diff --git a/tier4_system_msgs/msg/DiagnosticNode.msg b/tier4_system_msgs/msg/DiagnosticNode.msg
@@ -0,0 +1,2 @@
+diagnostic_msgs/DiagnosticStatus status
+tier4_system_msgs/DiagnosticLink[] links
diff --git a/tier4_system_msgs/msg/OperationModeAvailability.msg b/tier4_system_msgs/msg/OperationModeAvailability.msg
@@ -0,0 +1,8 @@
+builtin_interfaces/Time stamp
+bool stop
+bool autonomous
+bool local
+bool remote
+bool emergency_stop
+bool comfortable_stop
+bool pull_over