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46 changes: 46 additions & 0 deletions
46
common/autoware_ad_api_specs/include/autoware_ad_api_specs/planning.hpp
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| // 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. | ||
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| #ifndef AUTOWARE_AD_API_SPECS__PLANNING_HPP_ | ||
| #define AUTOWARE_AD_API_SPECS__PLANNING_HPP_ | ||
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| #include <rclcpp/qos.hpp> | ||
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| #include <autoware_adapi_v1_msgs/msg/steering_factor_array.hpp> | ||
| #include <autoware_adapi_v1_msgs/msg/velocity_factor_array.hpp> | ||
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| namespace autoware_ad_api::planning | ||
| { | ||
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| struct VelocityFactors | ||
| { | ||
| using Message = autoware_adapi_v1_msgs::msg::VelocityFactorArray; | ||
| static constexpr char name[] = "/api/planning/velocity_factors"; | ||
| static constexpr size_t depth = 1; | ||
| static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; | ||
| static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; | ||
| }; | ||
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| struct SteeringFactors | ||
| { | ||
| using Message = autoware_adapi_v1_msgs::msg::SteeringFactorArray; | ||
| static constexpr char name[] = "/api/planning/steering_factors"; | ||
| static constexpr size_t depth = 1; | ||
| static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; | ||
| static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; | ||
| }; | ||
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| } // namespace autoware_ad_api::planning | ||
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| #endif // AUTOWARE_AD_API_SPECS__PLANNING_HPP_ |
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| cmake_minimum_required(VERSION 3.14) | ||
| project(component_interface_tools) | ||
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| find_package(autoware_cmake REQUIRED) | ||
| autoware_package() | ||
| ament_auto_add_executable(service_log_checker src/service_log_checker.cpp) | ||
| ament_auto_package(INSTALL_TO_SHARE launch) |
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3
common/component_interface_tools/launch/service_log_checker.launch.xml
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| <launch> | ||
| <node pkg="component_interface_tools" exec="service_log_checker" name="service_log_checker"/> | ||
| </launch> |
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| <?xml version="1.0"?> | ||
| <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
| <package format="3"> | ||
| <name>component_interface_tools</name> | ||
| <version>0.1.0</version> | ||
| <description>The component_interface_tools package</description> | ||
| <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer> | ||
| <maintainer email="makoto.yabuta@tier4.jp">yabuta</maintainer> | ||
| <maintainer email="kahhooi.tan@tier4.jp">Kah Hooi Tan</maintainer> | ||
| <license>Apache License 2.0</license> | ||
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| <buildtool_depend>ament_cmake_auto</buildtool_depend> | ||
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| <build_depend>autoware_cmake</build_depend> | ||
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| <depend>diagnostic_updater</depend> | ||
| <depend>fmt</depend> | ||
| <depend>rclcpp</depend> | ||
| <depend>tier4_system_msgs</depend> | ||
| <depend>yaml_cpp_vendor</depend> | ||
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| <test_depend>ament_lint_auto</test_depend> | ||
| <test_depend>autoware_lint_common</test_depend> | ||
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| <export> | ||
| <build_type>ament_cmake</build_type> | ||
| </export> | ||
| </package> |
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common/component_interface_tools/src/service_log_checker.cpp
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| // 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. | ||
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| #include "service_log_checker.hpp" | ||
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| #include <yaml-cpp/yaml.h> | ||
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| #include <memory> | ||
| #include <string> | ||
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| #define FMT_HEADER_ONLY | ||
| #include <fmt/format.h> | ||
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| ServiceLogChecker::ServiceLogChecker() : Node("service_log_checker"), diagnostics_(this) | ||
| { | ||
| sub_ = create_subscription<ServiceLog>( | ||
| "/service_log", 50, std::bind(&ServiceLogChecker::on_service_log, this, std::placeholders::_1)); | ||
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| diagnostics_.setHardwareID(get_name()); | ||
| diagnostics_.add("response_status", this, &ServiceLogChecker::update_diagnostics); | ||
| } | ||
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| void ServiceLogChecker::on_service_log(const ServiceLog::ConstSharedPtr msg) | ||
| { | ||
| try { | ||
| // Ignore service request. | ||
| if (msg->type == ServiceLog::CLIENT_REQUEST || msg->type == ServiceLog::SERVER_REQUEST) { | ||
| return; | ||
| } | ||
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| // Ignore service errors. | ||
| if (msg->type == ServiceLog::ERROR_UNREADY) { | ||
| return set_error(*msg, "not ready"); | ||
| } | ||
| if (msg->type == ServiceLog::ERROR_TIMEOUT) { | ||
| return set_error(*msg, "timeout"); | ||
| } | ||
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| // Ignore version API because it doesn't have response status. | ||
| if (msg->name == "/api/interface/version") { | ||
| return; | ||
| } | ||
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| // Parse response data. | ||
| const auto status = YAML::Load(msg->yaml)["status"]; | ||
| if (!status) { | ||
| return set_error(*msg, "no response status"); | ||
| } | ||
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| // Check response status. | ||
| const auto success = status["success"].as<bool>(); | ||
| if (!success) { | ||
| const auto message = status["message"].as<std::string>(); | ||
| const auto code = status["code"].as<uint16_t>(); | ||
| return set_error(*msg, fmt::format("status code {} '{}'", code, message)); | ||
| } | ||
| } catch (const YAML::Exception & error) { | ||
| return set_error(*msg, fmt::format("invalid data: '{}'", error.what())); | ||
| } | ||
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| set_success(*msg); | ||
| } | ||
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| void ServiceLogChecker::set_success(const ServiceLog & msg) | ||
| { | ||
| errors_.erase(fmt::format("{} ({})", msg.name, msg.node)); | ||
| } | ||
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| void ServiceLogChecker::set_error(const ServiceLog & msg, const std::string & log) | ||
| { | ||
| errors_[fmt::format("{} ({})", msg.name, msg.node)] = log; | ||
| RCLCPP_ERROR_STREAM(get_logger(), fmt::format("{}: {} ({})", msg.name, log, msg.node)); | ||
| } | ||
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| void ServiceLogChecker::update_diagnostics(diagnostic_updater::DiagnosticStatusWrapper & stat) | ||
| { | ||
| using diagnostic_msgs::msg::DiagnosticStatus; | ||
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| for (const auto & error : errors_) { | ||
| stat.add(error.first, error.second); | ||
| } | ||
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| if (errors_.empty()) { | ||
| stat.summary(DiagnosticStatus::OK, "OK"); | ||
| } else { | ||
| stat.summary(DiagnosticStatus::ERROR, "ERROR"); | ||
| } | ||
| } | ||
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| int main(int argc, char ** argv) | ||
| { | ||
| rclcpp::init(argc, argv); | ||
| rclcpp::executors::SingleThreadedExecutor executor; | ||
| auto node = std::make_shared<ServiceLogChecker>(); | ||
| executor.add_node(node); | ||
| executor.spin(); | ||
| executor.remove_node(node); | ||
| rclcpp::shutdown(); | ||
| } |
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