feat: add diagnostics api

docs/design/autoware-interfaces/ad-api/features/diagnostics.md

@@ -0,0 +1,27 @@
+# Diagnostics
+
+## Related API
+
+- {{ link_ad_api('/api/system/diagnostics/struct') }}
+- {{ link_ad_api('/api/system/diagnostics/status') }}
+
+## Description
+
+This API provides a diagnostic graph consisting of error levels for functional units of Autoware.
+The system groups functions into arbitrary units depending on configuration and diagnoses their error levels.
+Each functional unit has dependencies, so the whole looks like a fault tree analysis (FTA).
+In practice, it becomes a directed acyclic graph (DAG) because multiple parents may share the same child.
+Below is an example of the diagnostics provided by this API.
+The `path` in the diagram is an arbitrary string that describes the functional unit, and the `level` is its error level.
+For error level, the same value as `diagnostic_msgs/msg/DiagnosticStatus` is used.
+
+![graph-tree](./diagnostics/tree.drawio.svg)
+
+The diagnostics data has static and dynamic parts, so the API provides these separately for efficiency.
+Below is an example of a message that corresponds to the above diagram.
+The static part of the diagnostic is published only once as the DiagGraphStruct that contains nodes and links.
+The links specify dependencies between nodes by index into an array of nodes.
+The dynamic part of the diagnostic is published periodically as DiagGraphStatus.
+The status has an array of nodes of the same length as the struct, with the same index representing the same functional unit.
+
+![graph-data](./diagnostics/data.drawio.svg)

docs/design/autoware-interfaces/ad-api/index.md

@@ -42,3 +42,4 @@ Service providers can combine these use cases to define user stories and check i
 - [Vehicle doors](./features/vehicle-doors.md)
 - [Cooperation](./features/cooperation.md)
 - [Heartbeat](./features/heartbeat.md)
+- [Diagnostics](./features/diagnostics.md)

docs/design/autoware-interfaces/ad-api/list/api/system/diagnostics/status.md

@@ -0,0 +1,21 @@
+---
+title: /api/system/diagnostics/status
+status: not released
+method: realtime stream
+type:
+  name: autoware_adapi_v1_msgs/msg/DiagGraphStatus
+  msg:
+    - name: stamp
+      text: Timestamp when this message was sent
+    - name: id
+      text: ID to check correspondence between struct and status.
+    - name: nodes
+      text: Dynamic data for nodes in diagnostic graph.
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+This is the dynamic part of the diagnostics.
+If static data is published with new ID, ignore dynamic data with old ID.
+See [diagnostics](../../../../features/diagnostics.md) for details.
+{% endblock %}

docs/design/autoware-interfaces/ad-api/list/api/system/diagnostics/struct.md

@@ -0,0 +1,23 @@
+---
+title: /api/system/diagnostics/struct
+status: not released
+method: notification
+type:
+  name: autoware_adapi_v1_msgs/msg/DiagGraphStruct
+  msg:
+    - name: stamp
+      text: Timestamp when this message was sent.
+    - name: id
+      text: ID to check correspondence between struct and status.
+    - name: nodes
+      text: Static data for nodes in diagnostic graph.
+    - name: links
+      text: Static data for links in diagnostic graph.
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+This is the static part of the diagnostics.
+If static data is published with new ID, ignore dynamic data with old ID.
+See [diagnostics](../../../../features/diagnostics.md) for details.
+{% endblock %}

docs/design/autoware-interfaces/ad-api/list/index.md

@@ -26,6 +26,8 @@
 | [/api/routing/set_route](./api/routing/set_route.md)                                             | v1.0.0       |
 | [/api/routing/set_route_points](./api/routing/set_route_points.md)                               | v1.0.0       |
 | [/api/routing/state](./api/routing/state.md)                                                     | v1.0.0       |
+| [/api/system/diagnostics/status](./api/system/diagnostics/status.md)                             | not released |
+| [/api/system/diagnostics/struct](./api/system/diagnostics/struct.md)                             | not released |
 | [/api/system/heartbeat](./api/system/heartbeat.md)                                               | not released |
 | [/api/vehicle/dimensions](./api/vehicle/dimensions.md)                                           | v1.1.0       |
 | [/api/vehicle/doors/command](./api/vehicle/doors/command.md)                                     | v1.2.0       |

docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DiagGraphStatus.md

@@ -0,0 +1,17 @@
+---
+# This file is generated by tools/autoware-interfaces/generate.py
+title: autoware_adapi_v1_msgs/msg/DiagGraphStatus
+uses:
+  - autoware_adapi_v1_msgs/msg/DiagNodeStatus
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
+{% block definition %}
+
+```txt
+builtin_interfaces/Time stamp
+string id
+autoware_adapi_v1_msgs/DiagNodeStatus[] nodes
+```
+
+{% endblock %}

docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DiagGraphStruct.md

@@ -0,0 +1,19 @@
+---
+# This file is generated by tools/autoware-interfaces/generate.py
+title: autoware_adapi_v1_msgs/msg/DiagGraphStruct
+uses:
+  - autoware_adapi_v1_msgs/msg/DiagLinkStruct
+  - autoware_adapi_v1_msgs/msg/DiagNodeStruct
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
+{% block definition %}
+
+```txt
+builtin_interfaces/Time stamp
+string id
+autoware_adapi_v1_msgs/DiagNodeStruct[] nodes
+autoware_adapi_v1_msgs/DiagLinkStruct[] links
+```
+
+{% endblock %}

docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DiagLinkStruct.md

@@ -0,0 +1,17 @@
+---
+# This file is generated by tools/autoware-interfaces/generate.py
+title: autoware_adapi_v1_msgs/msg/DiagLinkStruct
+used:
+  - autoware_adapi_v1_msgs/msg/DiagGraphStruct
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
+{% block definition %}
+
+```txt
+# The index of nodes in the graph struct message.
+uint32 parent
+uint32 child
+```
+
+{% endblock %}

docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DiagNodeStatus.md

@@ -0,0 +1,16 @@
+---
+# This file is generated by tools/autoware-interfaces/generate.py
+title: autoware_adapi_v1_msgs/msg/DiagNodeStatus
+used:
+  - autoware_adapi_v1_msgs/msg/DiagGraphStatus
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
+{% block definition %}
+
+```txt
+# The level of diagnostic_msgs/msg/DiagnosticStatus.
+byte level
+```
+
+{% endblock %}

docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DiagNodeStruct.md

@@ -0,0 +1,15 @@
+---
+# This file is generated by tools/autoware-interfaces/generate.py
+title: autoware_adapi_v1_msgs/msg/DiagNodeStruct
+used:
+  - autoware_adapi_v1_msgs/msg/DiagGraphStruct
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
+{% block definition %}
+
+```txt
+string path
+```
+
+{% endblock %}

docs/design/autoware-interfaces/ad-api/types/index.md

@@ -4,6 +4,11 @@
 - [autoware_adapi_v1_msgs/msg/CooperationDecision](./autoware_adapi_v1_msgs/msg/CooperationDecision.md)
 - [autoware_adapi_v1_msgs/msg/CooperationPolicy](./autoware_adapi_v1_msgs/msg/CooperationPolicy.md)
 - [autoware_adapi_v1_msgs/msg/CooperationStatus](./autoware_adapi_v1_msgs/msg/CooperationStatus.md)
+- [autoware_adapi_v1_msgs/msg/DiagGraphStatus](./autoware_adapi_v1_msgs/msg/DiagGraphStatus.md)
+- [autoware_adapi_v1_msgs/msg/DiagGraphStruct](./autoware_adapi_v1_msgs/msg/DiagGraphStruct.md)
+- [autoware_adapi_v1_msgs/msg/DiagLinkStruct](./autoware_adapi_v1_msgs/msg/DiagLinkStruct.md)
+- [autoware_adapi_v1_msgs/msg/DiagNodeStatus](./autoware_adapi_v1_msgs/msg/DiagNodeStatus.md)
+- [autoware_adapi_v1_msgs/msg/DiagNodeStruct](./autoware_adapi_v1_msgs/msg/DiagNodeStruct.md)
 - [autoware_adapi_v1_msgs/msg/DoorCommand](./autoware_adapi_v1_msgs/msg/DoorCommand.md)
 - [autoware_adapi_v1_msgs/msg/DoorLayout](./autoware_adapi_v1_msgs/msg/DoorLayout.md)
 - [autoware_adapi_v1_msgs/msg/DoorStatus](./autoware_adapi_v1_msgs/msg/DoorStatus.md)

docs/design/autoware-interfaces/ad-api/use-cases/system-monitoring.md

@@ -3,3 +3,9 @@
 ## Heartbeat
 
 [Heartbeat](../features/heartbeat.md) is a reference for checking whether communication with Autoware is being performed properly.
+
+## Diagnostics
+
+[Diagnostics](../features/diagnostics.md) is a set of error levels for each functional unit of Autoware.
+The design and structure of functional units are system dependent.
+This is useful to identify the cause of an abnormality.

yaml/autoware-interfaces.yaml

@@ -17,6 +17,27 @@ types:
       cancellable: bool
       cooperator: autoware_adapi_v1_msgs/msg/CooperationDecision
       uuid: unique_identifier_msgs/msg/UUID
+  autoware_adapi_v1_msgs/msg/DiagGraphStatus:
+    msg:
+      id: string
+      nodes: autoware_adapi_v1_msgs/msg/DiagNodeStatus[]
+      stamp: builtin_interfaces/msg/Time
+  autoware_adapi_v1_msgs/msg/DiagGraphStruct:
+    msg:
+      id: string
+      links: autoware_adapi_v1_msgs/msg/DiagLinkStruct[]
+      nodes: autoware_adapi_v1_msgs/msg/DiagNodeStruct[]
+      stamp: builtin_interfaces/msg/Time
+  autoware_adapi_v1_msgs/msg/DiagLinkStruct:
+    msg:
+      child: uint32
+      parent: uint32
+  autoware_adapi_v1_msgs/msg/DiagNodeStatus:
+    msg:
+      level: byte
+  autoware_adapi_v1_msgs/msg/DiagNodeStruct:
+    msg:
+      path: string
   autoware_adapi_v1_msgs/msg/DoorCommand:
     msg:
       command: uint8