From 29c3a2fd521c0e6781fd0420e75abb7c2336c9eb Mon Sep 17 00:00:00 2001 From: nobuotakamasa <57435383+nobuotakamasa@users.noreply.github.com> Date: Fri, 21 Oct 2022 05:52:11 +0900 Subject: [PATCH] feat: (system_monitor) adding a node for CMOS battery monitoring (#1989) * adding document for voltage monitor * ci(pre-commit): autofix * fixed for the issue of multithread * Fixed the lack for processing of Error case. * deleted magic number 200 * ci(pre-commit): autofix * moved voltage_mnitor to tha last * minimizing between try-catch. * ci(pre-commit): autofix * deleted unused files * added default vlue of cmos_battery_voltage * changed the label name to cmos_battery_label. * adding language specified * resolved conflict * resolved conflict * resolved conflict * ci(pre-commit): autofix * added topics_voltage_monitor.md) * ci(pre-commit): autofix * chore: sync files (#629) * chore: sync files Signed-off-by: GitHub * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Nobuo TAKAMASA * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (#639) Signed-off-by: Nobuo TAKAMASA * chore: sync files (#648) * chore: sync files Signed-off-by: GitHub * Revert "chore: sync files" This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. Signed-off-by: Kenji Miyake * sync codecov.yaml Signed-off-by: Kenji Miyake Co-authored-by: kenji-miyake Co-authored-by: Kenji Miyake Signed-off-by: Nobuo TAKAMASA * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (#666) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage Signed-off-by: h-ohta * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Nobuo TAKAMASA * fix(behavior_velocity): avoid insert same point on trajectory utils (#834) Signed-off-by: tanaka3 Signed-off-by: Nobuo TAKAMASA * refactor(behavior_velocity_planner): simplify CMakeLists.txt (#855) Signed-off-by: Kenji Miyake Signed-off-by: Nobuo TAKAMASA * docs: fix 404 error caused by typo in url (#871) * docs: fix 404 error caused by typo in url Signed-off-by: Shin-kyoto * docs: fix typo in url for yolov4 Signed-off-by: Shin-kyoto Signed-off-by: Nobuo TAKAMASA * fix(image_projection_based_fusion): set imagebuffersize (#820) * fix: set imagebuffersize configured Signed-off-by: suchang * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Nobuo TAKAMASA * chore(avoidance_module): fix spell check (#732) Signed-off-by: Muhammad Zulfaqar Azmi Signed-off-by: Nobuo TAKAMASA * feat: isolate gtests in all packages (#693) Signed-off-by: Maxime CLEMENT Signed-off-by: Nobuo TAKAMASA * docs(virtual traffic light): add documentation (#245) * doc(behavior_velocity): add graph and fix link * doc(behavior_velocity): update virtual traffic light doc Signed-off-by: tanaka3 * doc(behavior_velocity): minor fix Signed-off-by: tanaka3 * doc : mediate to coordinate Signed-off-by: tanaka3 * doc: minor update Signed-off-by: tanaka3 * doc: fix pre-commit * doc: update docs Signed-off-by: tanaka3 * apply suggestion * doc: to intersection-coordination Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Signed-off-by: Nobuo TAKAMASA * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (#830) * fix(surroud_obstacle_checker): use alias Signed-off-by: satoshi-ota * feat(surround_obstacle_checker): use velocity limit Signed-off-by: satoshi-ota * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions Signed-off-by: satoshi-ota * refactor(surround_obstacle_checker): use parameter struct Signed-off-by: satoshi-ota * fix(surround_obstacle_checker): use alias Signed-off-by: satoshi-ota * refactor(surround_obstacle_checker): cleanup member functions Signed-off-by: satoshi-ota * refactor(surround_obstacle_checker): cleanup polygon handling Signed-off-by: satoshi-ota * refactor(surround_obstacle_checker): use marker helper Signed-off-by: satoshi-ota * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow Signed-off-by: satoshi-ota Signed-off-by: Nobuo TAKAMASA * fix(surround_obstacle_checker): fix ego footprint polygon (#877) Signed-off-by: satoshi-ota Signed-off-by: Nobuo TAKAMASA * fix: update nvinfer api (#863) * fix(lidar_centerpoint): update nvinfer api Signed-off-by: Daisuke Nishimatsu * fix(tensorrt_yolo): update nvinfer api Signed-off-by: Daisuke Nishimatsu * fix(lidar_apollo_instance_segmentation): update nvinfer api Signed-off-by: Daisuke Nishimatsu * fix(traffic_light_classifier): update nvinfer api Signed-off-by: Daisuke Nishimatsu * fix(traffic_light_ssd_fine_detector): update nvinfer api Signed-off-by: Daisuke Nishimatsu * pre-commit run Signed-off-by: Daisuke Nishimatsu Signed-off-by: Nobuo TAKAMASA * fix(avoidance_module): ignore object instead of creating zero shift (#731) * fix: ignore object instead of creating zero shift instead of creating zero shift point, the object will be ignored. no behavior changes should be observed. Signed-off-by: Muhammad Zulfaqar Azmi * refactor: sync continue with upstream Signed-off-by: Muhammad Zulfaqar Azmi * fix: fix debug message for insufficient lateral margin Signed-off-by: Muhammad Zulfaqar Azmi Signed-off-by: Nobuo TAKAMASA * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (#738) Signed-off-by: Takamasa Horibe Signed-off-by: Nobuo TAKAMASA * test(autoware_testing): fix smoke_test (#479) * fix(autoware_testing): fix smoke_test Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * restore smoke_test for trajectory_follower_nodes Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * add support multiple parameter files Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * ci(pre-commit): autofix * minor fix Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Nobuo TAKAMASA * feat(rviz_plugins): add velocity limit to autoware state panel (#879) * feat(rviz_plugins): add velocity limit to autoware state panel Signed-off-by: tanaka3 * chore(rviz_plugin): change ms to kmh Signed-off-by: tanaka3 Signed-off-by: Nobuo TAKAMASA * feat(vehicle_info_util): add max_steer_angle (#740) * feat(vehicle_info_util): add max_steer_angle Signed-off-by: Takayuki Murooka * applied pre-commit Signed-off-by: Takayuki Murooka * Added max_steer_angle in test config Signed-off-by: Takayuki Murooka Co-authored-by: Tomoya Kimura Signed-off-by: Nobuo TAKAMASA * fix(lidar_centerpoint): fix google drive url to avoid 404 (#889) * fix(lidar_centerpoint): fix google drive url to avoid 404 * Update CMakeLists.txt Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Signed-off-by: Nobuo TAKAMASA * chore: fix typos (#886) Signed-off-by: badai-nguyen Signed-off-by: Nobuo TAKAMASA * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (#894) * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Nobuo TAKAMASA * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (#890) * add random point sampling function to quickly calculate the 'viewer' coordinate Signed-off-by: IshitaTakeshi Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Signed-off-by: Nobuo TAKAMASA * docs(obstacle_stop_planner): update documentation (#880) Signed-off-by: satoshi-ota Signed-off-by: Nobuo TAKAMASA * ci(pre-commit): autofix * fixed conflicts * ci(pre-commit): autofix * merged fork-origin * merged * resolve conflict * ci(pre-commit): autofix * deleted * added "Voltage Monitor" * merged with main->feature_battery_monitoring * merge main ->feature_battery_monitoring * ci(pre-commit): autofix * added default vlue of cmos_battery_voltage * resolved conflict * resolved conflict * ci(pre-commit): autofix * added topics_voltage_monitor.md) * ci(pre-commit): autofix * ci(pre-commit): autofix * ci(pre-commit): autofix * chore: sync files (#629) * chore: sync files Signed-off-by: GitHub * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Nobuo TAKAMASA * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (#639) Signed-off-by: Nobuo TAKAMASA * chore: sync files (#648) * chore: sync files Signed-off-by: GitHub * Revert "chore: sync files" This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. Signed-off-by: Kenji Miyake * sync codecov.yaml Signed-off-by: Kenji Miyake Co-authored-by: kenji-miyake Co-authored-by: Kenji Miyake Signed-off-by: Nobuo TAKAMASA * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (#666) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage Signed-off-by: h-ohta * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Nobuo TAKAMASA * fix(behavior_velocity): avoid insert same point on trajectory utils (#834) Signed-off-by: tanaka3 Signed-off-by: Nobuo TAKAMASA * refactor(behavior_velocity_planner): simplify CMakeLists.txt (#855) Signed-off-by: Kenji Miyake Signed-off-by: Nobuo TAKAMASA * docs: fix 404 error caused by typo in url (#871) * docs: fix 404 error caused by typo in url Signed-off-by: Shin-kyoto * docs: fix typo in url for yolov4 Signed-off-by: Shin-kyoto Signed-off-by: Nobuo TAKAMASA * fix(image_projection_based_fusion): set imagebuffersize (#820) * fix: set imagebuffersize configured Signed-off-by: suchang * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Nobuo TAKAMASA * chore(avoidance_module): fix spell check (#732) Signed-off-by: Muhammad Zulfaqar Azmi Signed-off-by: Nobuo TAKAMASA * feat: isolate gtests in all packages (#693) Signed-off-by: Maxime CLEMENT Signed-off-by: Nobuo TAKAMASA * docs(virtual traffic light): add documentation (#245) * doc(behavior_velocity): add graph and fix link * doc(behavior_velocity): update virtual traffic light doc Signed-off-by: tanaka3 * doc(behavior_velocity): minor fix Signed-off-by: tanaka3 * doc : mediate to coordinate Signed-off-by: tanaka3 * doc: minor update Signed-off-by: tanaka3 * doc: fix pre-commit * doc: update docs Signed-off-by: tanaka3 * apply suggestion * doc: to intersection-coordination Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Signed-off-by: Nobuo TAKAMASA * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (#830) * fix(surroud_obstacle_checker): use alias Signed-off-by: satoshi-ota * feat(surround_obstacle_checker): use velocity limit Signed-off-by: satoshi-ota * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions Signed-off-by: satoshi-ota * refactor(surround_obstacle_checker): use parameter struct Signed-off-by: satoshi-ota * fix(surround_obstacle_checker): use alias Signed-off-by: satoshi-ota * refactor(surround_obstacle_checker): cleanup member functions Signed-off-by: satoshi-ota * refactor(surround_obstacle_checker): cleanup polygon handling Signed-off-by: satoshi-ota * refactor(surround_obstacle_checker): use marker helper Signed-off-by: satoshi-ota * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow Signed-off-by: satoshi-ota Signed-off-by: Nobuo TAKAMASA * fix(surround_obstacle_checker): fix ego footprint polygon (#877) Signed-off-by: satoshi-ota Signed-off-by: Nobuo TAKAMASA * fix: update nvinfer api (#863) * fix(lidar_centerpoint): update nvinfer api Signed-off-by: Daisuke Nishimatsu * fix(tensorrt_yolo): update nvinfer api Signed-off-by: Daisuke Nishimatsu * fix(lidar_apollo_instance_segmentation): update nvinfer api Signed-off-by: Daisuke Nishimatsu * fix(traffic_light_classifier): update nvinfer api Signed-off-by: Daisuke Nishimatsu * fix(traffic_light_ssd_fine_detector): update nvinfer api Signed-off-by: Daisuke Nishimatsu * pre-commit run Signed-off-by: Daisuke Nishimatsu Signed-off-by: Nobuo TAKAMASA * fix(avoidance_module): ignore object instead of creating zero shift (#731) * fix: ignore object instead of creating zero shift instead of creating zero shift point, the object will be ignored. no behavior changes should be observed. Signed-off-by: Muhammad Zulfaqar Azmi * refactor: sync continue with upstream Signed-off-by: Muhammad Zulfaqar Azmi * fix: fix debug message for insufficient lateral margin Signed-off-by: Muhammad Zulfaqar Azmi Signed-off-by: Nobuo TAKAMASA * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (#738) Signed-off-by: Takamasa Horibe Signed-off-by: Nobuo TAKAMASA * test(autoware_testing): fix smoke_test (#479) * fix(autoware_testing): fix smoke_test Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * restore smoke_test for trajectory_follower_nodes Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * add support multiple parameter files Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * ci(pre-commit): autofix * minor fix Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Nobuo TAKAMASA * feat(rviz_plugins): add velocity limit to autoware state panel (#879) * feat(rviz_plugins): add velocity limit to autoware state panel Signed-off-by: tanaka3 * chore(rviz_plugin): change ms to kmh Signed-off-by: tanaka3 Signed-off-by: Nobuo TAKAMASA * feat(vehicle_info_util): add max_steer_angle (#740) * feat(vehicle_info_util): add max_steer_angle Signed-off-by: Takayuki Murooka * applied pre-commit Signed-off-by: Takayuki Murooka * Added max_steer_angle in test config Signed-off-by: Takayuki Murooka Co-authored-by: Tomoya Kimura Signed-off-by: Nobuo TAKAMASA * fix(lidar_centerpoint): fix google drive url to avoid 404 (#889) * fix(lidar_centerpoint): fix google drive url to avoid 404 * Update CMakeLists.txt Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Signed-off-by: Nobuo TAKAMASA * chore: fix typos (#886) Signed-off-by: badai-nguyen Signed-off-by: Nobuo TAKAMASA * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (#894) * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Nobuo TAKAMASA * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (#890) * add random point sampling function to quickly calculate the 'viewer' coordinate Signed-off-by: IshitaTakeshi Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Signed-off-by: Nobuo TAKAMASA * docs(obstacle_stop_planner): update documentation (#880) Signed-off-by: satoshi-ota Signed-off-by: Nobuo TAKAMASA * ci(pre-commit): autofix * fixed conflicts * ci(pre-commit): autofix * resolve conflict * ci(pre-commit): autofix * merged with main->feature_battery_monitoring * merge main ->feature_battery_monitoring * Added voltages are provisional values. Signed-off-by: Nobuo TAKAMASA * ci(pre-commit): autofix * feat(behavior_path_planner): add turn signal parameters (#2086) * feat(behavior_path_planner): add and change parameters Signed-off-by: yutaka * update Signed-off-by: yutaka * update Signed-off-by: yutaka Signed-off-by: yutaka * refactor(perception_utils): refactor matching function in perception_utils (#2045) * refactor(perception_util): refactor matching function in perception_util Signed-off-by: scepter914 * fix namespace Signed-off-by: scepter914 * refactor Signed-off-by: scepter914 * refactor Signed-off-by: scepter914 * fix bug Signed-off-by: scepter914 * add const Signed-off-by: scepter914 * refactor function name Signed-off-by: scepter914 Signed-off-by: scepter914 * refactor(perception_utils): refactor object_classification (#2042) * refactor(perception_utils): refactor object_classification Signed-off-by: scepter914 * fix bug Signed-off-by: scepter914 * fix unittest Signed-off-by: scepter914 * refactor Signed-off-by: scepter914 * fix unit test Signed-off-by: scepter914 * remove redundant else Signed-off-by: scepter914 * refactor variable name Signed-off-by: scepter914 Signed-off-by: scepter914 * feat(autoware_auto_perception_rviz_plugin): add accel text visualization (#2046) Signed-off-by: Takayuki Murooka Signed-off-by: Takayuki Murooka * refactor(motion_utils, obstacle_cruise_planner): add offset to virtual wall utils func (#2078) Signed-off-by: Takayuki Murooka Signed-off-by: Takayuki Murooka * refactor(osqp_interface, motion_velocity_smoother): unsolved status log (#2076) * refactor(osqp_interface, motion_velocity_smoother): unsolved status log Signed-off-by: Takayuki Murooka * Update common/osqp_interface/src/osqp_interface.cpp Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Signed-off-by: Takayuki Murooka Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> * feat(lidar_centerpoint): eliminated the tf dependency for single frame detection (#1925) Signed-off-by: Kenzo Lobos-Tsunekawa Signed-off-by: Kenzo Lobos-Tsunekawa Co-authored-by: Yusuke Muramatsu * change name hardware_monitor -> voltage_monitor * copy right 2020 -> 2022 * delete duplicated lines * fix: catch exception, remove sensors_exists_ * adding error message output * ci(pre-commit): autofix * ci(pre-commit): autofix * adding document for voltage monitor * fixed for the issue of multithread * ci(pre-commit): autofix * Fixed the lack for processing of Error case. * deleted magic number 200 * moved voltage_mnitor to tha last * minimizing between try-catch. * ci(pre-commit): autofix * added default vlue of cmos_battery_voltage * changed the label name to cmos_battery_label. * adding language specified * resolved conflict * resolved conflict * ci(pre-commit): autofix * added topics_voltage_monitor.md) * ci(pre-commit): autofix * chore: sync files (#629) * chore: sync files Signed-off-by: GitHub * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Nobuo TAKAMASA * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (#639) Signed-off-by: Nobuo TAKAMASA * chore: sync files (#648) * chore: sync files Signed-off-by: GitHub * Revert "chore: sync files" This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. Signed-off-by: Kenji Miyake * sync codecov.yaml Signed-off-by: Kenji Miyake Co-authored-by: kenji-miyake Co-authored-by: Kenji Miyake Signed-off-by: Nobuo TAKAMASA * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (#666) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage Signed-off-by: h-ohta * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Nobuo TAKAMASA * fix(behavior_velocity): avoid insert same point on trajectory utils (#834) Signed-off-by: tanaka3 Signed-off-by: Nobuo TAKAMASA * refactor(behavior_velocity_planner): simplify CMakeLists.txt (#855) Signed-off-by: Kenji Miyake Signed-off-by: Nobuo TAKAMASA * docs: fix 404 error caused by typo in url (#871) * docs: fix 404 error caused by typo in url Signed-off-by: Shin-kyoto * docs: fix typo in url for yolov4 Signed-off-by: Shin-kyoto Signed-off-by: Nobuo TAKAMASA * fix(image_projection_based_fusion): set imagebuffersize (#820) * fix: set imagebuffersize configured Signed-off-by: suchang * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Nobuo TAKAMASA * chore(avoidance_module): fix spell check (#732) Signed-off-by: Muhammad Zulfaqar Azmi Signed-off-by: Nobuo TAKAMASA * feat: isolate gtests in all packages (#693) Signed-off-by: Maxime CLEMENT Signed-off-by: Nobuo TAKAMASA * docs(virtual traffic light): add documentation (#245) * doc(behavior_velocity): add graph and fix link * doc(behavior_velocity): update virtual traffic light doc Signed-off-by: tanaka3 * doc(behavior_velocity): minor fix Signed-off-by: tanaka3 * doc : mediate to coordinate Signed-off-by: tanaka3 * doc: minor update Signed-off-by: tanaka3 * doc: fix pre-commit * doc: update docs Signed-off-by: tanaka3 * apply suggestion * doc: to intersection-coordination Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Signed-off-by: Nobuo TAKAMASA * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (#830) * fix(surroud_obstacle_checker): use alias Signed-off-by: satoshi-ota * feat(surround_obstacle_checker): use velocity limit Signed-off-by: satoshi-ota * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions Signed-off-by: satoshi-ota * refactor(surround_obstacle_checker): use parameter struct Signed-off-by: satoshi-ota * fix(surround_obstacle_checker): use alias Signed-off-by: satoshi-ota * refactor(surround_obstacle_checker): cleanup member functions Signed-off-by: satoshi-ota * refactor(surround_obstacle_checker): cleanup polygon handling Signed-off-by: satoshi-ota * refactor(surround_obstacle_checker): use marker helper Signed-off-by: satoshi-ota * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow Signed-off-by: satoshi-ota Signed-off-by: Nobuo TAKAMASA * fix(surround_obstacle_checker): fix ego footprint polygon (#877) Signed-off-by: satoshi-ota Signed-off-by: Nobuo TAKAMASA * fix: update nvinfer api (#863) * fix(lidar_centerpoint): update nvinfer api Signed-off-by: Daisuke Nishimatsu * fix(tensorrt_yolo): update nvinfer api Signed-off-by: Daisuke Nishimatsu * fix(lidar_apollo_instance_segmentation): update nvinfer api Signed-off-by: Daisuke Nishimatsu * fix(traffic_light_classifier): update nvinfer api Signed-off-by: Daisuke Nishimatsu * fix(traffic_light_ssd_fine_detector): update nvinfer api Signed-off-by: Daisuke Nishimatsu * pre-commit run Signed-off-by: Daisuke Nishimatsu Signed-off-by: Nobuo TAKAMASA * fix(avoidance_module): ignore object instead of creating zero shift (#731) * fix: ignore object instead of creating zero shift instead of creating zero shift point, the object will be ignored. no behavior changes should be observed. Signed-off-by: Muhammad Zulfaqar Azmi * refactor: sync continue with upstream Signed-off-by: Muhammad Zulfaqar Azmi * fix: fix debug message for insufficient lateral margin Signed-off-by: Muhammad Zulfaqar Azmi Signed-off-by: Nobuo TAKAMASA * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (#738) Signed-off-by: Takamasa Horibe Signed-off-by: Nobuo TAKAMASA * test(autoware_testing): fix smoke_test (#479) * fix(autoware_testing): fix smoke_test Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * restore smoke_test for trajectory_follower_nodes Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * add support multiple parameter files Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * ci(pre-commit): autofix * minor fix Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Nobuo TAKAMASA * feat(rviz_plugins): add velocity limit to autoware state panel (#879) * feat(rviz_plugins): add velocity limit to autoware state panel Signed-off-by: tanaka3 * chore(rviz_plugin): change ms to kmh Signed-off-by: tanaka3 Signed-off-by: Nobuo TAKAMASA * feat(vehicle_info_util): add max_steer_angle (#740) * feat(vehicle_info_util): add max_steer_angle Signed-off-by: Takayuki Murooka * applied pre-commit Signed-off-by: Takayuki Murooka * Added max_steer_angle in test config Signed-off-by: Takayuki Murooka Co-authored-by: Tomoya Kimura Signed-off-by: Nobuo TAKAMASA * fix(lidar_centerpoint): fix google drive url to avoid 404 (#889) * fix(lidar_centerpoint): fix google drive url to avoid 404 * Update CMakeLists.txt Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Signed-off-by: Nobuo TAKAMASA * chore: fix typos (#886) Signed-off-by: badai-nguyen Signed-off-by: Nobuo TAKAMASA * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (#894) * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Nobuo TAKAMASA * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (#890) * add random point sampling function to quickly calculate the 'viewer' coordinate Signed-off-by: IshitaTakeshi Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Signed-off-by: Nobuo TAKAMASA * docs(obstacle_stop_planner): update documentation (#880) Signed-off-by: satoshi-ota Signed-off-by: Nobuo TAKAMASA * ci(pre-commit): autofix * fixed conflicts * ci(pre-commit): autofix * resolve conflict * deleted * added "Voltage Monitor" * ci(pre-commit): autofix * merged with main->feature_battery_monitoring * merge main ->feature_battery_monitoring * ci(pre-commit): autofix * added default vlue of cmos_battery_voltage * resolved conflict * resolved conflict * added topics_voltage_monitor.md) * ci(pre-commit): autofix * ci(pre-commit): autofix * ci(pre-commit): autofix * chore: sync files (#629) * chore: sync files Signed-off-by: GitHub * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Nobuo TAKAMASA * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (#639) Signed-off-by: Nobuo TAKAMASA * chore: sync files (#648) * chore: sync files Signed-off-by: GitHub * Revert "chore: sync files" This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. Signed-off-by: Kenji Miyake * sync codecov.yaml Signed-off-by: Kenji Miyake Co-authored-by: kenji-miyake Co-authored-by: Kenji Miyake Signed-off-by: Nobuo TAKAMASA * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (#666) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage Signed-off-by: h-ohta * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Nobuo TAKAMASA * fix(behavior_velocity): avoid insert same point on trajectory utils (#834) Signed-off-by: tanaka3 Signed-off-by: Nobuo TAKAMASA * refactor(behavior_velocity_planner): simplify CMakeLists.txt (#855) Signed-off-by: Kenji Miyake Signed-off-by: Nobuo TAKAMASA * docs: fix 404 error caused by typo in url (#871) * docs: fix 404 error caused by typo in url Signed-off-by: Shin-kyoto * docs: fix typo in url for yolov4 Signed-off-by: Shin-kyoto Signed-off-by: Nobuo TAKAMASA * fix(image_projection_based_fusion): set imagebuffersize (#820) * fix: set imagebuffersize configured Signed-off-by: suchang * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Nobuo TAKAMASA * chore(avoidance_module): fix spell check (#732) Signed-off-by: Muhammad Zulfaqar Azmi Signed-off-by: Nobuo TAKAMASA * feat: isolate gtests in all packages (#693) Signed-off-by: Maxime CLEMENT Signed-off-by: Nobuo TAKAMASA * docs(virtual traffic light): add documentation (#245) * doc(behavior_velocity): add graph and fix link * doc(behavior_velocity): update virtual traffic light doc Signed-off-by: tanaka3 * doc(behavior_velocity): minor fix Signed-off-by: tanaka3 * doc : mediate to coordinate Signed-off-by: tanaka3 * doc: minor update Signed-off-by: tanaka3 * doc: fix pre-commit * doc: update docs Signed-off-by: tanaka3 * apply suggestion * doc: to intersection-coordination Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Signed-off-by: Nobuo TAKAMASA * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (#830) * fix(surroud_obstacle_checker): use alias Signed-off-by: satoshi-ota * feat(surround_obstacle_checker): use velocity limit Signed-off-by: satoshi-ota * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions Signed-off-by: satoshi-ota * refactor(surround_obstacle_checker): use parameter struct Signed-off-by: satoshi-ota * fix(surround_obstacle_checker): use alias Signed-off-by: satoshi-ota * refactor(surround_obstacle_checker): cleanup member functions Signed-off-by: satoshi-ota * refactor(surround_obstacle_checker): cleanup polygon handling Signed-off-by: satoshi-ota * refactor(surround_obstacle_checker): use marker helper Signed-off-by: satoshi-ota * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow Signed-off-by: satoshi-ota Signed-off-by: Nobuo TAKAMASA * fix(surround_obstacle_checker): fix ego footprint polygon (#877) Signed-off-by: satoshi-ota Signed-off-by: Nobuo TAKAMASA * fix: update nvinfer api (#863) * fix(lidar_centerpoint): update nvinfer api Signed-off-by: Daisuke Nishimatsu * fix(tensorrt_yolo): update nvinfer api Signed-off-by: Daisuke Nishimatsu * fix(lidar_apollo_instance_segmentation): update nvinfer api Signed-off-by: Daisuke Nishimatsu * fix(traffic_light_classifier): update nvinfer api Signed-off-by: Daisuke Nishimatsu * fix(traffic_light_ssd_fine_detector): update nvinfer api Signed-off-by: Daisuke Nishimatsu * pre-commit run Signed-off-by: Daisuke Nishimatsu Signed-off-by: Nobuo TAKAMASA * fix(avoidance_module): ignore object instead of creating zero shift (#731) * fix: ignore object instead of creating zero shift instead of creating zero shift point, the object will be ignored. no behavior changes should be observed. Signed-off-by: Muhammad Zulfaqar Azmi * refactor: sync continue with upstream Signed-off-by: Muhammad Zulfaqar Azmi * fix: fix debug message for insufficient lateral margin Signed-off-by: Muhammad Zulfaqar Azmi Signed-off-by: Nobuo TAKAMASA * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (#738) Signed-off-by: Takamasa Horibe Signed-off-by: Nobuo TAKAMASA * test(autoware_testing): fix smoke_test (#479) * fix(autoware_testing): fix smoke_test Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * restore smoke_test for trajectory_follower_nodes Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * add support multiple parameter files Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * ci(pre-commit): autofix * minor fix Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Nobuo TAKAMASA * feat(rviz_plugins): add velocity limit to autoware state panel (#879) * feat(rviz_plugins): add velocity limit to autoware state panel Signed-off-by: tanaka3 * chore(rviz_plugin): change ms to kmh Signed-off-by: tanaka3 Signed-off-by: Nobuo TAKAMASA * feat(vehicle_info_util): add max_steer_angle (#740) * feat(vehicle_info_util): add max_steer_angle Signed-off-by: Takayuki Murooka * applied pre-commit Signed-off-by: Takayuki Murooka * Added max_steer_angle in test config Signed-off-by: Takayuki Murooka Co-authored-by: Tomoya Kimura Signed-off-by: Nobuo TAKAMASA * fix(lidar_centerpoint): fix google drive url to avoid 404 (#889) * fix(lidar_centerpoint): fix google drive url to avoid 404 * Update CMakeLists.txt Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Signed-off-by: Nobuo TAKAMASA * chore: fix typos (#886) Signed-off-by: badai-nguyen Signed-off-by: Nobuo TAKAMASA * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (#894) * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Nobuo TAKAMASA * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (#890) * add random point sampling function to quickly calculate the 'viewer' coordinate Signed-off-by: IshitaTakeshi Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Signed-off-by: Nobuo TAKAMASA * docs(obstacle_stop_planner): update documentation (#880) Signed-off-by: satoshi-ota Signed-off-by: Nobuo TAKAMASA * ci(pre-commit): autofix * fixed conflicts * ci(pre-commit): autofix * resolve conflict * ci(pre-commit): autofix * merged with main->feature_battery_monitoring * merge main ->feature_battery_monitoring * Added voltages are provisional values. Signed-off-by: Nobuo TAKAMASA * ci(pre-commit): autofix * ci(pre-commit): autofix * ci(pre-commit): autofix * fixed conflict manually Signed-off-by: Nobuo TAKAMASA * fixed conflict manually Signed-off-by: Nobuo TAKAMASA * ci(pre-commit): autofix * fixed conflict Signed-off-by: Nobuo TAKAMASA * fixed conflict Signed-off-by: Nobuo TAKAMASA * ci(pre-commit): autofix Signed-off-by: Nobuo TAKAMASA Signed-off-by: tanaka3 Signed-off-by: Kenji Miyake Signed-off-by: Shin-kyoto Signed-off-by: Muhammad Zulfaqar Azmi Signed-off-by: Maxime CLEMENT Signed-off-by: satoshi-ota Signed-off-by: Daisuke Nishimatsu Signed-off-by: Takamasa Horibe Signed-off-by: badai-nguyen Signed-off-by: IshitaTakeshi Signed-off-by: yutaka Signed-off-by: scepter914 Signed-off-by: Takayuki Murooka Signed-off-by: Kenzo Lobos-Tsunekawa Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: awf-autoware-bot[bot] <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Co-authored-by: kenji-miyake Co-authored-by: Hiroki OTA Co-authored-by: Kenji Miyake Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> Co-authored-by: storrrrrrrrm <103425473+storrrrrrrrm@users.noreply.github.com> Co-authored-by: suchang Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Takamasa Horibe Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: Takayuki Murooka Co-authored-by: Tomoya Kimura Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Co-authored-by: Takeshi Ishita Co-authored-by: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Co-authored-by: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa Co-authored-by: Yusuke Muramatsu --- .../diagnostic_aggregator/system.param.yaml | 10 + .../system_monitor/voltage_monitor.param.yaml | 5 + .../diagnostic_aggregator/system.param.yaml | 10 + system/system_monitor/CMakeLists.txt | 10 + system/system_monitor/README.md | 82 +++++++ .../config/voltage_monitor.param.yaml | 5 + system/system_monitor/docs/ros_parameters.md | 10 + .../docs/topics_voltage_monitor.md | 42 ++++ .../voltage_monitor/voltage_monitor.hpp | 72 ++++++ .../launch/system_monitor.launch.py | 15 ++ .../launch/system_monitor.launch.xml | 4 + .../src/voltage_monitor/voltage_monitor.cpp | 206 ++++++++++++++++++ 12 files changed, 471 insertions(+) create mode 100644 launch/tier4_system_launch/config/system_monitor/voltage_monitor.param.yaml create mode 100644 system/system_monitor/config/voltage_monitor.param.yaml create mode 100644 system/system_monitor/docs/topics_voltage_monitor.md create mode 100644 system/system_monitor/include/system_monitor/voltage_monitor/voltage_monitor.hpp create mode 100644 system/system_monitor/src/voltage_monitor/voltage_monitor.cpp diff --git a/launch/tier4_system_launch/config/system_error_monitor/diagnostic_aggregator/system.param.yaml b/launch/tier4_system_launch/config/system_error_monitor/diagnostic_aggregator/system.param.yaml index af6b9ab8a64c2..443695c9f0e69 100644 --- a/launch/tier4_system_launch/config/system_error_monitor/diagnostic_aggregator/system.param.yaml +++ b/launch/tier4_system_launch/config/system_error_monitor/diagnostic_aggregator/system.param.yaml @@ -171,3 +171,13 @@ path: tasks_summary contains: [": Tasks Summary"] timeout: 3.0 + + hardware: + type: diagnostic_aggregator/AnalyzerGroup + path: voltage + analyzers: + cmos_battery: + type: diagnostic_aggregator/GenericAnalyzer + path: cmos_battery + contains: [": CMOS Battery Status"] + timeout: 3.0 diff --git a/launch/tier4_system_launch/config/system_monitor/voltage_monitor.param.yaml b/launch/tier4_system_launch/config/system_monitor/voltage_monitor.param.yaml new file mode 100644 index 0000000000000..e55410be39250 --- /dev/null +++ b/launch/tier4_system_launch/config/system_monitor/voltage_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + cmos_battery_warn: 2.90 + cmos_battery_error: 2.70 + cmos_battery_label: "" diff --git a/system/system_error_monitor/config/diagnostic_aggregator/system.param.yaml b/system/system_error_monitor/config/diagnostic_aggregator/system.param.yaml index fff9f8615f1ea..01e973b8ff26a 100644 --- a/system/system_error_monitor/config/diagnostic_aggregator/system.param.yaml +++ b/system/system_error_monitor/config/diagnostic_aggregator/system.param.yaml @@ -225,3 +225,13 @@ path: tasks_summary contains: [": Tasks Summary"] timeout: 3.0 + + hardware: + type: diagnostic_aggregator/AnalyzerGroup + path: voltage + analyzers: + cmos_battery: + type: diagnostic_aggregator/GenericAnalyzer + path: cmos_battery + contains: [": CMOS Battery Status"] + timeout: 3.0 diff --git a/system/system_monitor/CMakeLists.txt b/system/system_monitor/CMakeLists.txt index a20beca4135e0..c5a2daa3e87ba 100644 --- a/system/system_monitor/CMakeLists.txt +++ b/system/system_monitor/CMakeLists.txt @@ -105,6 +105,10 @@ ament_auto_add_library(gpu_monitor_lib SHARED ${GPU_MONITOR_SOURCE} ) +ament_auto_add_library(voltage_monitor_lib SHARED + src/voltage_monitor/voltage_monitor.cpp +) + ament_auto_add_executable(msr_reader reader/msr_reader/msr_reader.cpp ) @@ -129,6 +133,7 @@ find_package(Boost REQUIRED COMPONENTS ) ## Specify libraries to link a library or executable target against +target_link_libraries(voltage_monitor_lib ${Boost_LIBRARIES} ${LIBRARIES}) target_link_libraries(cpu_monitor_lib ${Boost_LIBRARIES} ${LIBRARIES}) target_link_libraries(hdd_monitor_lib ${Boost_LIBRARIES} ${LIBRARIES}) target_link_libraries(mem_monitor_lib ${LIBRARIES}) @@ -175,6 +180,11 @@ rclcpp_components_register_node(gpu_monitor_lib EXECUTABLE gpu_monitor ) +rclcpp_components_register_node(voltage_monitor_lib + PLUGIN "VoltageMonitor" + EXECUTABLE voltage_monitor +) + # TODO(yunus.caliskan): Port the tests to ROS2, robustify the tests. if(BUILD_TESTING) # ament_add_ros_isolated_gtest(test_cpu_monitor diff --git a/system/system_monitor/README.md b/system/system_monitor/README.md index c30709d5cffea..54d72c840f98a 100644 --- a/system/system_monitor/README.md +++ b/system/system_monitor/README.md @@ -13,6 +13,7 @@ This package provides the following nodes for monitoring system: - NTP Monitor - Process Monitor - GPU Monitor +- Voltage Monitor ### Supported architecture @@ -50,6 +51,7 @@ Every topic is published in 1 minute interval. - [NTP Monitor](docs/topics_ntp_monitor.md) - [Process Monitor](docs/topics_process_monitor.md) - [GPU Monitor](docs/topics_gpu_monitor.md) +- [Voltage Monitor](docs/topics_voltage_monitor.md) [Usage] ✓：Supported, -：Not supported @@ -83,6 +85,7 @@ Every topic is published in 1 minute interval. | | GPU Memory Usage | ✓ | - | - | | | | GPU Thermal Throttling | ✓ | - | - | | | | GPU Frequency | ✓ | ✓ | - | For Intel platform, monitor whether current GPU clock is supported by the GPU. | +| Voltage Monitor | CMOS Battery Staus | ✓ | - | - | Battery Health for RTC and BIOS - | ## ROS parameters @@ -183,6 +186,85 @@ Currently GPU monitor for intel platform only supports NVIDIA GPU whose informat Also you need to install CUDA libraries. For installation instructions for CUDA 10.0, see [NVIDIA CUDA Installation Guide for Linux](https://docs.nvidia.com/cuda/archive/10.0/cuda-installation-guide-linux/index.html). +## Voltage monitor for CMOS Battery + +Some platforms have built-in batteries for the RTC and CMOS. This node determines the battery status from the result of executing cat /proc/driver/rtc. +Also, if lm-sensors is installed, it is possible to use the results. +However, the return value of sensors varies depending on the chipset, so it is necessary to set a string to extract the corresponding voltage. +It is also necessary to set the voltage for warning and error. +For example, if you want a warning when the voltage is less than 2.9V and an error when it is less than 2.7V. +The execution result of sensors on the chipset nct6106 is as follows, and "in7:" is the voltage of the CMOS battery. + +```txt +$ sensors +pch_cannonlake-virtual-0 +Adapter: Virtual device +temp1: +42.0°C + +nct6106-isa-0a10 +Adapter: ISA adapter +in0: 728.00 mV (min = +0.00 V, max = +1.74 V) +in1: 1.01 V (min = +0.00 V, max = +2.04 V) +in2: 3.34 V (min = +0.00 V, max = +4.08 V) +in3: 3.34 V (min = +0.00 V, max = +4.08 V) +in4: 1.07 V (min = +0.00 V, max = +2.04 V) +in5: 1.05 V (min = +0.00 V, max = +2.04 V) +in6: 1.67 V (min = +0.00 V, max = +2.04 V) +in7: 3.06 V (min = +0.00 V, max = +4.08 V) +in8: 2.10 V (min = +0.00 V, max = +4.08 V) +fan1: 2789 RPM (min = 0 RPM) +fan2: 0 RPM (min = 0 RPM) +``` + +The setting value of voltage_monitor.param.yaml is as follows. + +```yaml +/**: + ros__parameters: + cmos_battery_warn: 2.90 + cmos_battery_error: 2.70 + cmos_battery_label: "in7:" +``` + +The above values of 2.7V and 2.90V are hypothetical. Depending on the motherboard and chipset, the value may vary. However, if the voltage of the lithium battery drops below 2.7V, it is recommended to replace it. +In the above example, the message output to the topic /diagnostics is as follows. +If the voltage < 2.9V then: + +```txt + name: /autoware/system/resource_monitoring/voltage/cmos_battery + message: Warning + hardware_id: '' + values: + - key: 'voltage_monitor: CMOS Battery Status' + value: Low Battery +``` + +If the voltage < 2.7V then: + +```txt + name: /autoware/system/resource_monitoring/voltage/cmos_battery + message: Warning + hardware_id: '' + values: + - key: 'voltage_monitor: CMOS Battery Status' + value: Battery Died +``` + +If neither, then: + +```txt + name: /autoware/system/resource_monitoring/voltage/cmos_battery + message: OK + hardware_id: '' + values: + - key: 'voltage_monitor: CMOS Battery Status' + value: OK +``` + +If the CMOS battery voltage drops less than voltage_error or voltage_warn,It will be a warning. +If the battery runs out, the RTC will stop working when the power is turned off. However, since the vehicle can run, it is not an error. The vehicle will stop when an error occurs, but there is no need to stop immediately. +It can be determined by the value of "Low Battery" or "Battery Died". + ## UML diagrams See [Class diagrams](docs/class_diagrams.md). diff --git a/system/system_monitor/config/voltage_monitor.param.yaml b/system/system_monitor/config/voltage_monitor.param.yaml new file mode 100644 index 0000000000000..e55410be39250 --- /dev/null +++ b/system/system_monitor/config/voltage_monitor.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + cmos_battery_warn: 2.90 + cmos_battery_error: 2.70 + cmos_battery_label: "" diff --git a/system/system_monitor/docs/ros_parameters.md b/system/system_monitor/docs/ros_parameters.md index a5bb41cb7c769..56dd746f985f7 100644 --- a/system/system_monitor/docs/ros_parameters.md +++ b/system/system_monitor/docs/ros_parameters.md @@ -100,3 +100,13 @@ gpu_monitor: | gpu_usage_error | float | %(1e-2) | 1.00 | Generates error when GPU usage reaches a specified value or higher. | | memory_usage_warn | float | %(1e-2) | 0.90 | Generates warning when GPU memory usage reaches a specified value or higher. | | memory_usage_error | float | %(1e-2) | 1.00 | Generates error when GPU memory usage reaches a specified value or higher. | + +## Voltage Monitor + +voltage_monitor: + +| Name | Type | Unit | Default | Notes | +| :----------------- | :----: | :--: | :-----: | :------------------------------------------------------------------------------ | +| cmos_battery_warn | float | volt | 2.9 | Generates warning when voltage of CMOS Battery is lower. | +| cmos_battery_error | float | volt | 2.7 | Generates error when voltage of CMOS Battery is lower. | +| cmos_battery_label | string | n/a | "" | voltage string in sensors command outputs. if emtpy no voltage will be checked. | diff --git a/system/system_monitor/docs/topics_voltage_monitor.md b/system/system_monitor/docs/topics_voltage_monitor.md new file mode 100644 index 0000000000000..f1a70178e485c --- /dev/null +++ b/system/system_monitor/docs/topics_voltage_monitor.md @@ -0,0 +1,42 @@ +# ROS topics: Voltage Monitor + +"CMOS Battery Status" and "CMOS battey voltage" are exclusive. +Only one or the other is generated. +Which one is generated depends on the value of cmos_battery_label. + +## CMOS Battery Status + +/diagnostics/voltage_monitor: CMOS Battery Status + +[summary] + +| level | message | +| ----- | ------------ | +| OK | OK | +| WARN | Battery Dead | + +[values] + +| key (example) | value (example) | +| ------------------ | ----------------- | +| CMOS battey status | OK / Battery Dead | + +\*key: thermal_zone[0-9] for ARM architecture. + +## CMOS Battery Voltage + +/diagnostics/voltage_monitor: CMOS battey voltage + +[summary] + +| level | message | +| ----- | ------------ | +| OK | OK | +| WARN | Low Battery | +| WARN | Battery Died | + +[values] + +| key | value (example) | +| ------------------- | --------------- | +| CMOS battey voltage | 3.06 | diff --git a/system/system_monitor/include/system_monitor/voltage_monitor/voltage_monitor.hpp b/system/system_monitor/include/system_monitor/voltage_monitor/voltage_monitor.hpp new file mode 100644 index 0000000000000..eca6de2fcc834 --- /dev/null +++ b/system/system_monitor/include/system_monitor/voltage_monitor/voltage_monitor.hpp @@ -0,0 +1,72 @@ +// Copyright 2022 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +/** + * @file voltage_monitor.h + * @brief voltage monitor class + */ + +#ifndef SYSTEM_MONITOR__VOLTAGE_MONITOR__VOLTAGE_MONITOR_HPP_ +#define SYSTEM_MONITOR__VOLTAGE_MONITOR__VOLTAGE_MONITOR_HPP_ + +#include + +#include +#include +#include +class VoltageMonitor : public rclcpp::Node +{ +public: + /** + * @brief constructor + * @param [in] options Options associated with this node. + */ + explicit VoltageMonitor(const rclcpp::NodeOptions & options); + + /** + * @brief Update the diagnostic state. + */ + void update(); + +protected: + using DiagStatus = diagnostic_msgs::msg::DiagnosticStatus; + + diagnostic_updater::Updater updater_; //!< @brief Updater class which advertises to /diagnostics + + char hostname_[HOST_NAME_MAX + 1]; //!< @brief host name + + /** + * @brief check CMOS Battey + * @param [out] stat diagnostic message passed directly to diagnostic publish calls + * @note NOLINT syntax is needed since diagnostic_updater asks for a non-const reference + * to pass diagnostic message updated in this function to diagnostic publish calls. + */ + void checkVoltage( + diagnostic_updater::DiagnosticStatusWrapper & stat); // NOLINT(runtime/references) + /** + * @brief check CMOS Battey + * @param [out] stat diagnostic message passed directly to diagnostic publish calls + * @note NOLINT syntax is needed since diagnostic_updater asks for a non-const reference + * to pass diagnostic message updated in this function to diagnostic publish calls. + */ + void checkBatteryStatus( + diagnostic_updater::DiagnosticStatusWrapper & stat); // NOLINT(runtime/references) + + float voltage_warn_; + float voltage_error_; + std::string voltage_string_; + std::regex voltage_regex_; +}; + +#endif // SYSTEM_MONITOR__VOLTAGE_MONITOR__VOLTAGE_MONITOR_HPP_ diff --git a/system/system_monitor/launch/system_monitor.launch.py b/system/system_monitor/launch/system_monitor.launch.py index 463fdb6bab0a8..c4168e05e508c 100644 --- a/system/system_monitor/launch/system_monitor.launch.py +++ b/system/system_monitor/launch/system_monitor.launch.py @@ -96,6 +96,16 @@ def launch_setup(context, *args, **kwargs): gpu_monitor_config, ], ) + with open(LaunchConfiguration("voltage_monitor_config_file").perform(context), "r") as f: + voltage_monitor_config = yaml.safe_load(f)["/**"]["ros__parameters"] + voltage_monitor = ComposableNode( + package="system_monitor", + plugin="VoltageMonitor", + name="voltage_monitor", + parameters=[ + voltage_monitor_config, + ], + ) # set container to run all required components in the same process container = ComposableNodeContainer( @@ -111,6 +121,7 @@ def launch_setup(context, *args, **kwargs): ntp_monitor, process_monitor, gpu_monitor, + voltage_monitor, ], output="screen", ) @@ -151,6 +162,10 @@ def generate_launch_description(): "gpu_monitor_config_file", default_value=os.path.join(system_monitor_path, "gpu_monitor.param.yaml"), ), + DeclareLaunchArgument( + "voltage_monitor_config_file", + default_value=os.path.join(system_monitor_path, "voltage_monitor.param.yaml"), + ), OpaqueFunction(function=launch_setup), ] ) diff --git a/system/system_monitor/launch/system_monitor.launch.xml b/system/system_monitor/launch/system_monitor.launch.xml index 423b9f779fd1d..e7c55c24c4c79 100644 --- a/system/system_monitor/launch/system_monitor.launch.xml +++ b/system/system_monitor/launch/system_monitor.launch.xml @@ -6,6 +6,7 @@ + @@ -29,5 +30,8 @@ + + + diff --git a/system/system_monitor/src/voltage_monitor/voltage_monitor.cpp b/system/system_monitor/src/voltage_monitor/voltage_monitor.cpp new file mode 100644 index 0000000000000..e0bb665330b91 --- /dev/null +++ b/system/system_monitor/src/voltage_monitor/voltage_monitor.cpp @@ -0,0 +1,206 @@ +// Copyright 2022 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +/** + * @file _voltage_monitor.cpp + * @brief voltage monitor class + */ + +#include "system_monitor/voltage_monitor/voltage_monitor.hpp" + +#include "system_monitor/system_monitor_utility.hpp" + +#include + +#include +#include +#include +#include + +#include +#include +#include + +#include +#include +#include +#include + +namespace bp = boost::process; + +VoltageMonitor::VoltageMonitor(const rclcpp::NodeOptions & options) +: Node("voltage_monitor", options), updater_(this), hostname_() +{ + gethostname(hostname_, sizeof(hostname_)); + + updater_.setHardwareID(hostname_); + // Publisher + rclcpp::QoS durable_qos{1}; + durable_qos.transient_local(); + + voltage_string_ = declare_parameter("cmos_battery_label", ""); + voltage_warn_ = declare_parameter("cmos_battery_warn", 2.95); + voltage_error_ = declare_parameter("cmos_battery_error", 2.75); + bool sensors_exists = false; + if (voltage_string_ == "") { + sensors_exists = false; + } else { + // Check if command exists + fs::path p = bp::search_path("sensors"); + sensors_exists = (p.empty()) ? false : true; + } + gethostname(hostname_, sizeof(hostname_)); + auto callback = &VoltageMonitor::checkBatteryStatus; + if (sensors_exists) { + try { + std::regex re(R"((\d+).(\d+))"); + voltage_regex_ = re; + } catch (std::regex_error & e) { + // never comes here. + RCLCPP_WARN(get_logger(), "std::regex_error %d", e.code()); + return; + } + callback = &VoltageMonitor::checkVoltage; + } + updater_.add("CMOS Battery Status", this, callback); +} + +void VoltageMonitor::checkVoltage(diagnostic_updater::DiagnosticStatusWrapper & stat) +{ + // Remember start time to measure elapsed time + const auto t_start = SystemMonitorUtility::startMeasurement(); + float voltage = 0.0; + + int out_fd[2]; + if (RCUTILS_UNLIKELY(pipe2(out_fd, O_CLOEXEC) != 0)) { + stat.summary(DiagStatus::ERROR, "pipe2 error"); + stat.add("pipe2", strerror(errno)); + return; + } + bp::pipe out_pipe{out_fd[0], out_fd[1]}; + bp::ipstream is_out{std::move(out_pipe)}; + + int err_fd[2]; + if (RCUTILS_UNLIKELY(pipe2(err_fd, O_CLOEXEC) != 0)) { + stat.summary(DiagStatus::ERROR, "pipe2 error"); + stat.add("pipe2", strerror(errno)); + return; + } + bp::pipe err_pipe{err_fd[0], err_fd[1]}; + bp::ipstream is_err{std::move(err_pipe)}; + + bp::child c("sensors", bp::std_out > is_out, bp::std_err > is_err); + c.wait(); + + if (RCUTILS_UNLIKELY(c.exit_code() != 0)) { // failed to execute sensors + std::ostringstream os; + is_err >> os.rdbuf(); + stat.summary(DiagStatus::ERROR, "sensors error"); + stat.add("sensors", os.str().c_str()); + return; + } + std::string line; + while (std::getline(is_out, line)) { + auto voltageStringPos = line.find(voltage_string_.c_str()); + if (voltageStringPos != std::string::npos) { + try { + std::smatch match; + std::regex_search(line, match, voltage_regex_); + auto voltageString = match.str(); + voltage = std::stof(voltageString); + } catch (std::regex_error & e) { + stat.summary(DiagStatus::WARN, "format error"); + stat.add("exception in std::regex_search ", fmt::format("{}", e.code())); + return; + } + break; + } + } + stat.add("CMOS battey voltage", fmt::format("{}", voltage)); + if (voltage < voltage_error_) { + stat.summary(DiagStatus::WARN, "Battery Died"); + } else if (voltage < voltage_warn_) { + stat.summary(DiagStatus::WARN, "Low Battery"); + } else { + stat.summary(DiagStatus::OK, "OK"); + } + + // Measure elapsed time since start time and report + SystemMonitorUtility::stopMeasurement(t_start, stat); +} + +void VoltageMonitor::checkBatteryStatus(diagnostic_updater::DiagnosticStatusWrapper & stat) +{ + // Remember start time to measure elapsed time + const auto t_start = SystemMonitorUtility::startMeasurement(); + + // Get status of RTC + int out_fd[2]; + if (RCUTILS_UNLIKELY(pipe2(out_fd, O_CLOEXEC) != 0)) { + stat.summary(DiagStatus::ERROR, "pipe2 error"); + stat.add("pipe2", strerror(errno)); + return; + } + bp::pipe out_pipe{out_fd[0], out_fd[1]}; + bp::ipstream is_out{std::move(out_pipe)}; + + int err_fd[2]; + if (RCUTILS_UNLIKELY(pipe2(err_fd, O_CLOEXEC) != 0)) { + stat.summary(DiagStatus::ERROR, "pipe2 error"); + stat.add("pipe2", strerror(errno)); + return; + } + bp::pipe err_pipe{err_fd[0], err_fd[1]}; + bp::ipstream is_err{std::move(err_pipe)}; + + bp::child c("cat /proc/driver/rtc", bp::std_out > is_out, bp::std_err > is_err); + c.wait(); + + if (RCUTILS_UNLIKELY(c.exit_code() != 0)) { + std::ostringstream os; + is_err >> os.rdbuf(); + stat.summary(DiagStatus::ERROR, "rtc error"); + stat.add("rtc", os.str().c_str()); + return; + } + + std::string line; + bool status = false; + while (std::getline(is_out, line)) { + auto batStatusLine = line.find("batt_status"); + if (batStatusLine != std::string::npos) { + auto batStatus = line.find("okay"); + if (batStatus != std::string::npos) { + status = true; + break; + } + } + } + + if (status) { + stat.add("CMOS battey status", std::string("OK")); + stat.summary(DiagStatus::OK, "OK"); + } else { + stat.add("CMOS battey status", std::string("Battery Dead")); + stat.summary(DiagStatus::WARN, "Battery Dead"); + } + + // Measure elapsed time since start time and report + SystemMonitorUtility::stopMeasurement(t_start, stat); +} + +void VoltageMonitor::update() { updater_.force_update(); } + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(VoltageMonitor)