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feat(system_error_monitor): output emergency reason for debugging #510

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merged 7 commits into from
Mar 18, 2022
Merged

feat(system_error_monitor): output emergency reason for debugging #510

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3eee4e9
feat(system_error_monitor): output emergency reason for debugging
takayuki5168 Mar 11, 2022
eeb8406
print all emergency reasons with 5 sec throttle using macros
takayuki5168 Mar 12, 2022
0ee9e03
not use macros
takayuki5168 Mar 12, 2022
8ecf0af
use const std::shared_ptr for argument of clock
takayuki5168 Mar 12, 2022
a767e1a
use enum class for DebugLevel
takayuki5168 Mar 12, 2022
142b5a5
resolved review's comment
takayuki5168 Mar 12, 2022
ce58358
Merge branch 'main' into feature/print-emergency-reaon
takayuki5168 Mar 16, 2022
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32 changes: 26 additions & 6 deletions system/system_error_monitor/src/system_error_monitor_core.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,8 +26,27 @@

#include <fmt/format.h>

#define DEFINE_TIER4_RCLCPP_LOG(LEVEL) \
void TIER4_RCLCPP_##LEVEL##_THROTTLE( \
const std::string & logger_name, rclcpp::Clock clock, const double duration, \
const std::string & message) \
{ \
static std::unordered_map<std::string, rclcpp::Time> last_output_time; \
if (last_output_time.count(logger_name) != 0) { \
const auto time_from_last_output = clock.now() - last_output_time.at(logger_name); \
if (time_from_last_output.seconds() * 1000.0 < duration) { \
return; \
} \
} \
last_output_time[logger_name] = clock.now(); \
RCLCPP_##LEVEL(rclcpp::get_logger(logger_name), message.c_str()); \
}

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namespace
{
DEFINE_TIER4_RCLCPP_LOG(ERROR);
DEFINE_TIER4_RCLCPP_LOG(WARN);

std::vector<std::string> split(const std::string & str, const char delim)
{
std::vector<std::string> elems;
Expand Down Expand Up @@ -111,15 +130,16 @@ diagnostic_msgs::msg::DiagnosticArray convertHazardStatusToDiagnosticArray(
diag_array.status.push_back(decorateDiag(hazard_diag, "[Safe Fault]"));
}
for (const auto & hazard_diag : hazard_status.diag_latent_fault) {
RCLCPP_WARN_THROTTLE(
rclcpp::get_logger("system_error_monitor"), *clock, 5000, "[Latent Fault] %s: %s",
hazard_diag.name.c_str(), hazard_diag.message.c_str());
const std::string logger_name = "system_error_monitor " + hazard_diag.name;
TIER4_RCLCPP_WARN_THROTTLE(logger_name, *clock, 5000, "[Latent Fault]: " + hazard_diag.message);

diag_array.status.push_back(decorateDiag(hazard_diag, "[Latent Fault]"));
}
for (const auto & hazard_diag : hazard_status.diag_single_point_fault) {
RCLCPP_ERROR_THROTTLE(
rclcpp::get_logger("system_error_monitor"), *clock, 5000, "[Single Point Fault] %s: %s",
hazard_diag.name.c_str(), hazard_diag.message.c_str());
const std::string logger_name = "system_error_monitor " + hazard_diag.name;
TIER4_RCLCPP_ERROR_THROTTLE(
logger_name, *clock, 5000, "[Single Point Fault]: " + hazard_diag.message);

diag_array.status.push_back(decorateDiag(hazard_diag, "[Single Point Fault]"));
}

Expand Down