feat(diagnostic_graph_aggregator): rename system_diagnostic_graph pac…

…kage (#5827)

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

system/system_diagnostic_graph/CMakeLists.txt → system/diagnostic_graph_aggregator/CMakeLists.txt

@@ -1,29 +1,31 @@
 cmake_minimum_required(VERSION 3.14)
-project(system_diagnostic_graph)
+project(diagnostic_graph_aggregator)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
-  src/core/config.cpp
-  src/core/debug.cpp
-  src/core/graph.cpp
-  src/core/units.cpp
-  src/core/modes.cpp
+  src/common/graph/config.cpp
+  src/common/graph/debug.cpp
+  src/common/graph/graph.cpp
+  src/common/graph/units.cpp
 )
 
 ament_auto_add_executable(aggregator
-  src/main.cpp
+  src/node/aggregator.cpp
+  src/node/plugin/modes.cpp
 )
+target_include_directories(aggregator PRIVATE src/common)
 
 ament_auto_add_executable(converter
-  src/tool.cpp
+  src/node/converter.cpp
 )
+target_include_directories(converter PRIVATE src/common)
 
 ament_auto_add_executable(tool
-  src/tool/main.cpp
+  src/tool/tool.cpp
 )
-target_include_directories(tool PRIVATE src/core)
+target_include_directories(tool PRIVATE src/common)
 
 if(BUILD_TESTING)
   get_filename_component(RESOURCE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/test/files ABSOLUTE)
@@ -33,7 +35,7 @@ if(BUILD_TESTING)
     test/src/utils.cpp
   )
   target_compile_definitions(gtest_${PROJECT_NAME} PRIVATE TEST_RESOURCE_PATH="${RESOURCE_PATH}")
-  target_include_directories(gtest_${PROJECT_NAME} PRIVATE src)
+  target_include_directories(gtest_${PROJECT_NAME} PRIVATE src/common)
 endif()
 
 ament_auto_package(INSTALL_TO_SHARE config example launch)

system/system_diagnostic_graph/README.md → system/diagnostic_graph_aggregator/README.md

@@ -1,13 +1,23 @@
-# System diagnostic graph
+# diagnostic_graph_aggregator
 
 ## Overview
 
-The system diagnostic graph node subscribes to diagnostic array and publishes aggregated diagnostic graph.
+The diagnostic graph aggregator node subscribes to diagnostic array and publishes aggregated diagnostic graph.
 As shown in the diagram below, this node introduces extra diagnostic status for intermediate functional unit.
 Diagnostic status dependencies will be directed acyclic graph (DAG).
 
 ![overview](./doc/overview.drawio.svg)
 
+## Diagnostics graph message
+
+The diagnostics graph that this node outputs is a combination of diagnostic status and connections between them.
+This graph consists of an array of diagnostic nodes, and each node has a status and links.
+This link contains an index indicating the position of the node in the graph.
+Therefore, the graph can be reconstructed from the array of nodes using links.
+The following is an example of a message representing the graph in the overview section.
+
+![message](./doc/message.drawio.svg)
+
 ## Operation mode availability
 
 For MRM, this node publishes the status of the top-level functional units in the dedicated message.
@@ -22,7 +32,7 @@ This feature breaks the generality of the graph and may be changed to a plugin o
 - /autoware/operation/comfortable-stop
 - /autoware/operation/pull-over
 
-## Interface
+## Interfaces
 
 | Interface Type | Interface Name                        | Data Type                                         | Description        |
 | -------------- | ------------------------------------- | ------------------------------------------------- | ------------------ |
@@ -32,12 +42,24 @@ This feature breaks the generality of the graph and may be changed to a plugin o
 
 ## Parameters
 
-| Parameter Name    | Data Type | Description                                |
-| ----------------- | --------- | ------------------------------------------ |
-| `graph_file`      | `string`  | Path of the config file.                   |
-| `rate`            | `double`  | Rate of aggregation and topic publication. |
-| `input_qos_depth` | `uint`    | QoS depth of input array topic.            |
-| `graph_qos_depth` | `uint`    | QoS depth of output graph topic.           |
+| Parameter Name                    | Data Type | Description                                |
+| --------------------------------- | --------- | ------------------------------------------ |
+| `graph_file`                      | `string`  | Path of the config file.                   |
+| `rate`                            | `double`  | Rate of aggregation and topic publication. |
+| `input_qos_depth`                 | `uint`    | QoS depth of input array topic.            |
+| `graph_qos_depth`                 | `uint`    | QoS depth of output graph topic.           |
+| `use_operation_mode_availability` | `bool`    | Use operation mode availability publisher. |
+| `use_debug_mode`                  | `bool`    | Use debug output to stdout.                |
+
+## Examples
+
+- [example_0.yaml](./example/example_0.yaml)
+- [example_1.yaml](./example/example_1.yaml)
+- [example_2.yaml](./example/example_2.yaml)
+
+```bash
+ros2 launch diagnostic_graph_aggregator example.launch.xml
+```
 
 ## Graph file format
 
@@ -48,12 +70,3 @@ This feature breaks the generality of the graph and may be changed to a plugin o
   - [Unit](./doc/format/unit.md)
   - [And](./doc/format/and.md)
   - [Or](./doc/format/or.md)
-
-## Example
-
-- [example1.yaml](./example/example1.yaml)
-- [example2.yaml](./example/example2.yaml)
-
-```bash
-ros2 launch system_diagnostic_graph example.launch.xml
-```

system/diagnostic_graph_aggregator/doc/format/diag.md

@@ -0,0 +1,10 @@
+# Diag
+
+Diag is a node that refers to a source diagnostics.
+
+## Format
+
+| Name | Type   | Required | Description                            |
+| ---- | ------ | -------- | -------------------------------------- |
+| type | string | yes      | Specify `diag` when using this object. |
+| diag | string | yes      | Name of diagnostic status.             |